CN110179633A - Upper limb integration device for healing and training - Google Patents
Upper limb integration device for healing and training Download PDFInfo
- Publication number
- CN110179633A CN110179633A CN201910565294.5A CN201910565294A CN110179633A CN 110179633 A CN110179633 A CN 110179633A CN 201910565294 A CN201910565294 A CN 201910565294A CN 110179633 A CN110179633 A CN 110179633A
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- training
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- upper limb
- training platform
- handle
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 35
- 230000010354 integration Effects 0.000 title claims abstract description 16
- 230000035876 healing Effects 0.000 title claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 47
- 239000000758 substrate Substances 0.000 claims abstract description 29
- 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 abstract description 24
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 10
- 230000003028 elevating effect Effects 0.000 claims description 5
- 210000002478 hand joint Anatomy 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 14
- 210000000323 shoulder joint Anatomy 0.000 abstract description 5
- 210000002310 elbow joint Anatomy 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 6
- 230000001360 synchronised effect Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 210000000707 wrist Anatomy 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000013065 commercial product Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 230000032258 transport Effects 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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0277—Elbow
-
- 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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
-
- 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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
-
- 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
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
-
- 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
- A61H2205/06—Arms
- A61H2205/062—Shoulders
-
- 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
- A61H2205/06—Arms
- A61H2205/065—Hands
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
The present invention relates to technical field of medical rehabilitation machinery, a kind of upper limb integration device for healing and training is specifically disclosed, including training platform, hand holder mechanism is movably equipped on training platform, being movably equipped between hand holder mechanism and training platform can be along the swing pedestal that training platform swings, and hand holder mechanism sliding is set to and swings on pedestal, hand holder mechanism includes substrate and the bracket for support arm, bracket is set on substrate, substrate is equipped with mandrel and the handle for fixing hand, the rotating arm for being rotated with fixed handle is connected between mandrel and handle, rotating arm is connected with driving motor, the movement of hand holder mechanism is more smooth, effectively improve the rehabilitation training effect that patient uses, comfort level and safety；Structure for driving wrist joint to carry out flexion/extension motion is set on hand holder mechanism, realizes shoulder joint, elbow joint and the carpal rehabilitation training of upper limb, reaches comprehensive training, further strengthen the integrated training effect of upper limb.
Description
Technical field
The present invention relates to technical field of medical rehabilitation machinery more particularly to a kind of upper limb integration device for healing and training.
Background technique
A kind of rehabilitation training of upper limbs disclosed in Chinese utility model patent " rehabilitation training of upper limbs machine " (CN206063380U)
Machine, hand rest and movable plate including being used to support upper limb, the hand rest are set on the movable plate, and the hand rest can be in institute
It states and is slided on movable plate, the first guide rail and adjustable shelf are provided on the movable plate, the adjustable shelf is located at first guide rail
It can slide above and along first guide rail, the second guide rail is provided on the adjustable shelf, the hand rest is located at the adjustable shelf
It can slide above and along second guide rail.However above-mentioned patented technology have the following deficiencies: 1) as upper limb training device
Lack wrist joint training part, is unfavorable for the rehabilitation of patient's upper limb；2) although hand rest can pass through the longitudinal movement of adjustable shelf
And change in location of the hand rest on movable plate is realized in transverse movement of the hand rest on adjustable shelf, due to the limitation of structure, this is vertical
It is difficult to carry out simultaneously to movement and transverse movement, if hand rest needs to reach the coordinate points of some inclined direction, needs first to be indulged
It is laterally moved or is first laterally moved again and carry out longitudinal movement again to movement, the movement of hand rest is not smooth, can not be compared with
The shoulder or ancon motion profile of good fitting human body, influence rehabilitation training effect, and there are resistance, experience sense is bad.
Summary of the invention
It is an object of the invention to be directed to the existing state of the art, a kind of upper limb integration device for healing and training is provided, this
Inventive structure is simple, flexibly light, it can be achieved that shoulder, ancon and carpal rehabilitation training, reach the full side of integration of upper limb
Position training, effectively improves the rehabilitation training effect of upper limb.
In order to achieve the above objectives, the present invention adopts the following technical scheme:
A kind of upper limb integration device for healing and training, including training platform, which is characterized in that living on the training platform
The dynamic hand holder mechanism being equipped with for fixing hand and wrist joint being driven to carry out flexion/extension motion, hand holder mechanism and training platform
Between be movably equipped with can be along the swing pedestal that training platform swings, and hand holder mechanism sliding is set to and swings on pedestal, hand rest
Mechanism includes substrate and the bracket for support arm, and bracket is set on substrate, and the substrate is equipped with mandrel and use
In the handle of fixed hand, the rotating arm for being rotated with fixed handle, rotating arm connection are connected between mandrel and handle
There is the driving motor for driving rotating arm to be rotated in the horizontal direction using mandrel as axle center.
Preferably, the fan-shaped structure of the training platform, the radial direction for swinging pedestal along training platform are arranged, swing
Pedestal is connected with close to one end of human body for driving the oscillating motor for swinging pedestal and swinging along training platform, oscillating motor
At the axle center of training platform.
Preferably, the substrate offers the arc track that limition orientation is carried out for the movement to handle, handle
Lower end is connected with support wheel, and support slipping is set in arc track.
Preferably, the handle, at its lower end is convexly equipped with installation end, and support wheel is movably set in outside installation end.
Preferably, the substrate has sliding seat, and multidimensional sensor, multidimensional sensing are equipped between substrate and sliding seat
Device is flexibly connected with substrate.
Preferably, crossed roller bearing is equipped between the multidimensional sensor and substrate.
Preferably, the mandrel is set on the extended line of bracket.
Preferably, the first synchronizing wheel is arranged with outside the mandrel, it is synchronous that the output outer shaft sleeve of driving motor is equipped with second
Wheel, is connected between the first synchronizing wheel and the second synchronizing wheel by synchronous belt.
Preferably, the training platform lower end is equipped with support frame, is equipped between training platform and support frame for driving
The elevating mechanism of training platform oscilaltion.
The beneficial effects of the present invention are:
1) in the present invention, driving drive to swing pedestal using it by oscillating motor is axle center along training close to one end of human body
Platform swings, thus hand holder mechanism forms hand holder mechanism arbitrary point on training platform and move along pedestal sliding is swung, can
It is directly realized by the movement of point-to-point of the hand holder mechanism on training platform, reaches the coordinate points of inclined direction, the shifting of hand holder mechanism
It is dynamic more smooth, the interior receipts abduction exercise of human upper limb is preferably simulated, rehabilitation training effect that patient uses, comfortable is effectively improved
Degree and safety.
2) structure for driving wrist joint to carry out flexion/extension motion is set on hand holder mechanism, realizes the shoulder joint of upper limb
The integration of upper limb training is realized in section, elbow joint and carpal rehabilitation training, reaches comprehensive training, and effect can be big
The big rehabilitation training effect better than only shoulder, elbow, further strengthens the integrated training effect of upper limb, hand holder mechanism of the invention
Also it is mountable to platform-type rehabilitation training of upper limbs machine on the market, collocation degree is high, applied widely.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the structural schematic diagram of hand holder mechanism.
Specific embodiment
Below in conjunction with the accompanying drawings and embodiment the invention will be further described:
It please referring to shown in Fig. 1-Fig. 2, the present invention discloses a kind of upper limb integration device for healing and training, including training platform 4,
The hand holder mechanism 1 for fixing hand and wrist joint being driven to carry out flexion/extension motion, hand rest are movably equipped on training platform 4
It is movably equipped between mechanism 1 and training platform 4 and swings pedestal 2, the sliding of hand holder mechanism 1, which is set to, to be swung on pedestal 2, hand holder mechanism 1
Including substrate 12 and for the bracket 11 of support arm, bracket 11 is set on substrate 12, substrate 12 be equipped with mandrel 13 and
For fixing the handle 14 of hand, the rotating arm for being rotated with fixed handle 14 is connected between mandrel 13 and handle 14
15, rotating arm 15 is connected with the driving motor for driving rotating arm 15 to be rotated in the horizontal direction with mandrel 13 for axle center
161。
In the present invention, the sliding of hand holder mechanism 1, which is set to, to be swung on pedestal 2, can be passed through between hand holder mechanism 1 and swing pedestal 2
Motor screw slide mechanism or motor synchronous belt mechanism realize sliding, and commercially available sliding drive mechanism can also be used, as long as can be real
Existing hand holder mechanism 1 is swinging the sliding on pedestal 2.
In the present invention, driving drive to swing pedestal 2 using it by oscillating motor is axle center along training close to one end of human body
Platform 4 swings, and hand holder mechanism 1 is slided along pedestal 2 is swung, and thus forms the arbitrary point on training platform 4 of hand holder mechanism 1 and transports
Dynamic, in the prior art, the coordinate points that hand holder mechanism 1 reaches inclined direction are needed by two vertical route tracks, the present invention
Hand holder mechanism 1 can be directly moved in another coordinate points of the inclined direction by a coordinate points, the movement of hand holder mechanism 1
It is more smooth, the interior receipts abduction exercise of human upper limb is preferably simulated, rehabilitation training effect, comfort level that patient uses are effectively improved
And safety.
As a kind of preferred embodiment of the invention, on hand holder mechanism 1 setting for drive wrist joint into
The structure of row flexion/extension motion realizes shoulder joint, elbow joint and the carpal rehabilitation training of upper limb, realizes upper limb training
Integration, reach comprehensive training, effect can be significantly better than the rehabilitation training effect of only shoulder, elbow.
In the present embodiment, handle 14 is the column structure being arranged in vertical, and handle 14 also can be replaced into other shapes
Specification installs the finger rehabilitation exercise mechanism for being used for finger rehabilitation exercise additional, to adapt to different demands.
In the present embodiment, mandrel 13 and one end of rotating arm 15 are bolted to connection.
Can be integrally formed setting between rotating arm 15 and handle 14, can also be detachable setting.
With in the process, arm is placed on bracket 11, wrist corresponds to 13 top of mandrel, and hand holds handle 14,
Hand drives rotating arm 15 to be rotated with mandrel 13 for axle center by driving motor 161, is connected to drive with rotating arm 15
The handle 14 connect is rotated in the horizontal direction, and hand is driven to be rotated using wrist joint rotation center as axle center, is completed wrist and is closed
The buckling of section, stretching, extension rehabilitation exercise, structure is simple, and existing upper limb integrated conception is extended to wrist joint very from shoulder joint
To being finger-joint (installing finger rehabilitation exercise mechanism additional i.e. at handle 14), the integrated training effect of upper limb is further strengthened
Fruit, hand holder mechanism 1 of the invention are also mountable to platform-type rehabilitation training of upper limbs machine on the market, and collocation degree is high, the scope of application
Extensively.
As a kind of specific embodiment of the invention, the fan-shaped structure of training platform 4 swings pedestal 2 along training platform 4
Radial direction setting, swing pedestal 2 close to one end of human body be connected with for drive swing pedestal 2 along training platform 4 or so
The oscillating motor of swing, oscillating motor are set at the axle center of training platform 4.The training of rectangular configuration compared with the existing technology is flat
Platform 4, the present invention meet activity of the manpower using shoulder joint to receive outreach in one of rotation center using fan-shaped training platform 4
Range meets human cinology, and trained scope of activities is met with the smallest mechanism.
As a kind of preferable specific embodiment of the invention, substrate 12 is offered to carry out for the movement to handle 14
The arc track 121 of limition orientation, the lower end of handle 14 are connected with support wheel 142, and the sliding of support wheel 142 is set to curved track
In road 121, guarantees the stability of 14 motion process of handle, and limit to the movement of handle 14, more meet human body wrist motion
Feature effectively avoids moving in rehabilitation training and improper causes secondary damage.
14 lower end of handle is convexly equipped with installation end 141, and support wheel 142 is movably set in outside installation end 141, and support wheel 142 can
For column or spherical, the pivot bush unit setting of support wheel 142, so that support wheel 142 can be arcuately in 14 motion process of handle
Track 121 rolls, it is ensured that support wheel 142 slides the fluency smooth, guarantee handle 14 moves in arc track 121.
As a kind of preferable specific embodiment of the invention, substrate 12 has sliding seat 18, substrate 12 and sliding
Multidimensional sensor 17 is equipped between seat 18, multidimensional sensor 17 is flexibly connected with substrate 12.
Multidimensional sensor 17 can be commercial product, be flexibly connected with the bottom of substrate 12, for detecting hand in motion process
In power size and Orientation, control feedback, facilitate collect patient's training data, thus preferably provide special training opinion
And scheme.
As a kind of specific embodiment of the invention, crossed roller axis is equipped between multidimensional sensor 17 and substrate 12
It holds, realizes being flexibly connected between multidimensional sensor 17 and substrate 12, the two is free to rotate during the motion, to adapt to
The relative motion that hand and upper limb training device generate in upper limb training process, reduces resistance, so that user is in rehabilitation training
There is more comfortable experience sense in journey.
Mandrel 13 is set on the extended line of bracket 11, it is ensured that during wrist joints sporting, the movement center of circle of handle 14 and people
Body wrist joint center of rotation is overlapped.
The first synchronizing wheel 162 is arranged with outside mandrel 13, the output outer shaft sleeve of driving motor 161 is equipped with the second synchronizing wheel 163,
It is connected between first synchronizing wheel 162 and the second synchronizing wheel 163 by synchronous belt 164, in use process, driving motor 161
Output shaft rotation drives the rotation of the first synchronizing wheel 162, and drives the rotation of the second synchronizing wheel 163, and then band by synchronous belt 164
Rotating arm 15 in moving mandrel 13 rotates, and realizes the rotation of 15 upper handle 14 of rotating arm.
4 lower end of training platform is equipped with support frame 5, is equipped between training platform 4 and support frame 5 for driving training platform 4
The elevating mechanism of oscilaltion drives 4 oscilaltion of training platform by elevating mechanism, different height is adjusted to, to adapt to not
With the height of the sitting posture of patient, improve human body comforts of use, elevating mechanism can for it is pneumatic, surge or electronic, such as motor
Screw drive mechanism, electric pushrod or cylinder driving mechanism, as long as being able to achieve the oscilaltion of training platform 4.
Certainly, using a specific example illustrates the principle and implementation of the invention in text, above embodiments
Illustrate to be only intended to help method and its core concept of the invention.It should be pointed out that for the ordinary skill people of the art
Member for, without departing from the principle of the present invention, can with several improvements and modifications are made to the present invention, these improve and
Modification is also fallen within the protection scope of the claims of the present invention.
Claims (6)
1. a kind of upper limb integration device for healing and training, including training platform, which is characterized in that movable on the training platform
Equipped with for fixing hand and wrist joint being driven to carry out the hand holder mechanism of flexion/extension motion, hand holder mechanism and training platform it
Between be movably equipped with can be along the swing pedestal that training platform swings, and hand holder mechanism sliding is set to and swings on pedestal, hand rest machine
Structure includes substrate and the bracket for support arm, and bracket is set on substrate, and the substrate is equipped with mandrel and is used for
The handle of fixed hand, is connected with the rotating arm for being rotated with fixed handle, rotating arm is connected between mandrel and handle
Driving motor for driving rotating arm to be rotated in the horizontal direction using mandrel as axle center.
2. upper limb integration device for healing and training according to claim 1, which is characterized in that the training platform is in fan
Shape structure, the radial direction for swinging pedestal along training platform are arranged, swing pedestal and be connected with close to one end of human body for driving
The oscillating motor that pedestal swings along training platform is swung, oscillating motor is set at the axle center of training platform.
3. upper limb integration device for healing and training according to claim 1, which is characterized in that the substrate opens up useful
The arc track of limition orientation is carried out in the movement to handle, the lower end of handle is connected with support wheel, and support slipping is set
In in arc track.
4. upper limb integration device for healing and training according to claim 3, which is characterized in that the substrate has cunning
Dynamic seat, is equipped with multidimensional sensor between substrate and sliding seat, multidimensional sensor is flexibly connected with substrate.
5. upper limb integration device for healing and training according to claim 4, which is characterized in that the multidimensional sensor with
Crossed roller bearing is equipped between substrate.
6. upper limb integration device for healing and training according to claim 1, which is characterized in that the training platform lower end
The elevating mechanism for driving training platform oscilaltion is equipped with equipped with support frame, between training platform and support frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910565294.5A CN110179633A (en) | 2019-06-24 | 2019-06-24 | Upper limb integration device for healing and training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910565294.5A CN110179633A (en) | 2019-06-24 | 2019-06-24 | Upper limb integration device for healing and training |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110179633A true CN110179633A (en) | 2019-08-30 |
Family
ID=67723598
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910565294.5A Pending CN110179633A (en) | 2019-06-24 | 2019-06-24 | Upper limb integration device for healing and training |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110179633A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110522611A (en) * | 2019-09-27 | 2019-12-03 | 南京可信机器人研究院有限公司 | A kind of stretching hand with arm device for healing and training of adjustable tensile strength |
| CN110547948A (en) * | 2019-09-11 | 2019-12-10 | 聊城大学 | Two-shaft movable upper limb rehabilitation device |
| CN111297637A (en) * | 2020-03-19 | 2020-06-19 | 山东建筑大学 | Arm bracket device for upper limb rehabilitation |
| CN111419633A (en) * | 2020-04-05 | 2020-07-17 | 马玉龙 | Recovered device of taking exercise of arm |
| JP2020130632A (en) * | 2019-02-20 | 2020-08-31 | 株式会社栗本鐵工所 | Load application device |
| CN112472520A (en) * | 2020-11-26 | 2021-03-12 | 四川大学华西医院 | Upper limb rehabilitation training device |
| IT201900019469A1 (en) * | 2019-10-22 | 2021-04-22 | Euro Lugli | HAND PHYSIOTHERAPY EQUIPMENT |
| CN113274240A (en) * | 2021-03-26 | 2021-08-20 | 阁步(上海)医疗科技有限公司 | Upper limb arm rehabilitation robot |
| CN114100082A (en) * | 2021-12-30 | 2022-03-01 | 上海卓道医疗科技有限公司 | Upper limb rehabilitation training equipment |
| CN114522064A (en) * | 2022-01-27 | 2022-05-24 | 宁波大学 | Wrist joint passive auxiliary training device and using method thereof |
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Application publication date: 20190830 |