CN112603628A - Knee brace system with muscle strength monitoring function - Google Patents
Knee brace system with muscle strength monitoring function Download PDFInfo
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- CN112603628A CN112603628A CN202011501609.9A CN202011501609A CN112603628A CN 112603628 A CN112603628 A CN 112603628A CN 202011501609 A CN202011501609 A CN 202011501609A CN 112603628 A CN112603628 A CN 112603628A
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- monitoring function
- pull pressure
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- 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
- A61F5/05—Devices for stretching or reducing fractured limbs; Devices for distractions; Splints for immobilising
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/22—Ergometry; Measuring muscular strength or the force of a muscular blow
- A61B5/224—Measuring muscular strength
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6802—Sensor mounted on worn items
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6813—Specially adapted to be attached to a specific body part
- A61B5/6828—Leg
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/683—Means for maintaining contact with the body
- A61B5/6835—Supports or holders, e.g., articulated arms
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- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
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- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Pathology (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Medical Informatics (AREA)
- Biophysics (AREA)
- Physics & Mathematics (AREA)
- Physical Education & Sports Medicine (AREA)
- Nursing (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Vascular Medicine (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
The invention provides a knee brace system with muscle force monitoring function, which comprises: a knee brace having a first brace and a second brace; a telescoping assembly comprising a motion bar and a sleeve; one end of the moving rod is connected with the first support through the quick buckle, the other end of the moving rod is movably arranged in the sleeve, and one end of the sleeve is connected with the second support through the quick buckle; the pulling pressure sensor is connected with the moving rod; and the circuit module is in wired connection with the pull pressure sensor and is used for processing the signal of the pull pressure sensor and sending the pull pressure value to the mobile terminal. The circuit module is used for testing isometric muscle strength at different angles, the mobile terminal is preferably a mobile phone APP, the pull pressure value is converted into a torque value through an algorithm, the mobile phone APP can display muscle strength data in real time and perform statistical analysis on the muscle strength data, a user can select to store the data in the mobile phone locally or share the data with a doctor through a background, the problem that a patient after an orthopedic operation cannot test muscle strength is effectively solved, and the possibility that the doctor remotely guides postoperative rehabilitation is provided.
Description
Technical Field
The invention relates to the technical field of medical rehabilitation and wireless communication, in particular to a knee brace system with a muscle force monitoring function.
Background
The orthopedic brace is an external support device aiming at relieving the dysfunction of four limbs, a spine and a skeletal muscle system, and plays an auxiliary protection role for each joint and limb. At present, common orthopedic braces do not have the function of measuring the strength of quadriceps femoris muscles, and doctors do not have quantitative cognition on the strength of the muscle of anterior fork ligament patients and joint replacement patients before and after operation. Medical needs cannot be met. The existing muscle strength detection device for quadriceps femoris has various defects. For example, the existing quadriceps femoris hand-held monitoring device has the defects of inaccurate measurement and need of assistance of professional medical care personnel, and is not beneficial to a patient to finish measurement for many times at home. The existing muscle force isokinetic tester is accurate and powerful, but has the defects of large size, high manufacturing cost, complex operation and the like. It is equally disadvantageous to perform remote home measurements of the patient.
Therefore, the quadriceps femoris monitoring brace is developed and has great significance and value for a hospital to collect medical big data and remotely guide a patient to complete rehabilitation training.
Disclosure of Invention
Therefore, the invention provides a knee brace system with a muscle strength monitoring function, and aims to solve the problems that the muscle strength monitoring of quadriceps femoris is complicated and the measurement precision is low in the prior art.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
a knee brace system with muscle force monitoring functionality, comprising:
the knee joint brace is provided with a first bracket and a second bracket, and the first bracket is movably connected with the second bracket;
the telescopic assembly comprises a moving rod and a sleeve pipe sleeved outside the moving rod;
one end of the moving rod is connected with the first support through a quick buckle, the other end of the moving rod is movably arranged in the sleeve, and one end of the sleeve is connected with the second support through a quick buckle;
a pull pressure sensor connected with the motion rod;
and the circuit module is connected with the pull pressure sensor and used for receiving and processing the pull pressure sensing signal sent by the pull pressure sensor to obtain a pull pressure value and sending the pull pressure value to the mobile terminal.
Furthermore, in the knee brace system with muscle force monitoring function, the motion rod is provided with a clamping protrusion;
at least one sliding channel is arranged along the length of the sleeve in multiple directions; at least one clamping groove is arranged along the width direction of the sleeve; the clamping groove is communicated with the sliding channel;
wherein, the screens protruding movable setting is in screens groove or sliding channel.
Furthermore, in the knee brace system with the muscle strength monitoring function, the sleeve is provided with a plurality of clamping grooves.
Furthermore, in the knee brace system with the muscle strength monitoring function, a plurality of clamping grooves are arranged in parallel.
Further, in the knee brace system with muscle force monitoring function, the telescopic assembly further includes: a telescopic rod;
the sleeve is sleeved outside the telescopic rod and connected with the telescopic rod, and the moving part of the telescopic rod is positioned in the sleeve and connected with the moving rod; the fixing part of the telescopic rod is connected with the second support.
Further, in the knee brace system with muscle force monitoring function, the telescopic assembly further includes: a pin;
one end of the pin is connected with the moving part of the telescopic rod, and the other end of the pin is positioned outside the sleeve.
Further, the knee brace system with muscle force monitoring function further includes: a power source;
the circuit module includes:
the signal acquisition module is electrically connected with the pull pressure sensor;
the central processing unit is connected with the signal acquisition module;
the wireless communication module is connected with the central processing unit;
the power supply is connected with the circuit module and used for supplying power to the circuit module.
Further, in the knee brace system with muscle force monitoring function, the central processing unit is a single chip microcomputer or a microprocessor.
Further, in the knee brace system with muscle force monitoring function, the first bracket and the second bracket are respectively provided with a mounting hole;
one end of the moving rod is fixedly arranged in the mounting hole of the first bracket in a quick-fastening mode; one end of the fixing part of the telescopic rod is fast buckled and fixedly arranged in the mounting hole of the second support.
Further, in the knee brace system with muscle force monitoring function, the first support and the second support are connected through a chuck.
The invention has the following advantages:
the invention provides a knee brace system with muscle force monitoring function, which comprises: the knee joint brace is provided with a first bracket and a second bracket, and the first bracket is movably connected with the second bracket; a telescoping assembly comprising a motion bar and a sleeve; one end of the moving rod is connected with the first support through the quick buckle, the other end of the moving rod is movably arranged in the sleeve, and one end of the sleeve is connected with the second support through the quick buckle; the pulling pressure sensor is connected with the moving rod and used for detecting the pulling pressure value applied to the moving rod; and the circuit module is in wired connection with the pull pressure sensor and is used for processing the signal of the pull pressure sensor and sending the pull pressure value to the mobile terminal. The circuit module is to isometric muscle strength test of different angles, removes the preferred cell-phone APP of end, and it turns into the torque value with pulling the pressure value through the algorithm, and cell-phone APP can show muscle strength data in real time and carry out statistical analysis to it, and the user can select to save data in the cell-phone locally or share for the doctor through the backstage, has solved the problem that orthopedics postoperative patient can't test muscle strength effectively to give doctor remote guidance postoperative rehabilitation's possibility.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.
FIG. 1 is a schematic structural diagram of a knee brace system with muscle force monitoring function according to the present invention;
FIG. 2 is a schematic structural view of a retraction assembly according to the present invention;
FIG. 3 is a schematic view of the telescoping assembly and pull pressure sensor of the present invention;
FIG. 4 is a schematic view of a mounting hole structure according to the present invention;
fig. 5 is a flowchart illustrating the operation of the circuit module according to the present invention.
In the figure:
1-knee brace; 2-a telescoping assembly; 3-a pull pressure sensor; 11-a first support; 12-a second scaffold; 13-a chuck; 14-mounting holes; 21-a motion bar; 22-a sleeve; 23-a clamping bulge; 24-a slide channel; 25-a clamping groove; 26-a telescopic rod; 27-pin.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the present specification, the terms "upper", "lower", "left", "right", "middle", and the like are used for clarity of description, and are not intended to limit the scope of the present invention, and changes or modifications in the relative relationship may be made without substantial changes in the technical content.
The present embodiment provides a knee brace system with muscle force monitoring function, as shown in fig. 1 to 5, including: knee joint brace 1, flexible subassembly 2, draw pressure sensor 3 and circuit module.
The knee joint brace 1 comprises a first bracket 11 and a second bracket 12, wherein the first bracket 11 is movably connected with the second bracket 12; in the present embodiment, the first bracket 11 and the second bracket are made of a high-strength steel material; the first bracket 11 and the second bracket 12 are connected through a chuck 13; the lower end of the first bracket 11 is connected with the chuck, the lower end of the second bracket is connected with the chuck, and the first bracket and the second bracket can move around the chuck; in actual use, the first support is detachably worn on the lower leg through a buckle, an elastic band and the like, and the second support 12 is detachably worn on the upper leg through a buckle, an elastic band and the like.
The telescopic assembly 2 comprises a moving rod 21 and a sleeve 22 sleeved outside the moving rod 21; one end of the moving rod 21 is fixedly connected with the first bracket 11 through a snap fastener, the other end of the moving rod is movably arranged in the sleeve 22, and one end of the sleeve 22 is connected with the second bracket 12 through a snap fastener; in the present embodiment, the moving rod 21 and the sleeve 22 are made of stainless steel or aluminum alloy;
a pull pressure sensor 3 connected to the moving rod 21 for detecting a pressure value applied to the moving rod 21; in this embodiment, the pull pressure sensor is preferably an ohyda AT8301 pull pressure sensor with a measurement range of 500N, which is a four-channel bridge output, but is not limited thereto. When the leg bending type leg bending device is used, the first support and the second support move, the moving rod moves along with the first support, and the pressure sensor is pulled to monitor the pressure applied to the moving rod.
And the circuit module is connected with the pull pressure sensor 3 and used for receiving and processing the pull pressure sensing signal sent by the pull pressure sensor 3 to obtain a pull pressure value and sending the pull pressure value to the mobile terminal. In this embodiment, the mobile terminal is preferably a mobile phone APP, and the mobile terminal is described below by taking the mobile phone APP as an example, but the mobile terminal of the present application is not limited to the mobile phone APP;
the circuit module is connected with the pull pressure sensor 3 in a wired mode. The circuit module receives a pull pressure sensing signal sent by the pull pressure sensor, and the pull pressure sensing signal is converted into a corresponding pull pressure value through processing to send the mobile phone APP. The circuit module can be installed on the knee joint brace and can also be independently arranged.
The circuit module handles isometric muscle strength tests of different angles, and cell-phone APP passes through the algorithm and turns into the torque value with the pressure value that draws, and cell-phone APP can show muscle strength data in real time and carry out statistical analysis to it, and the user can select to save data in the cell-phone is local or share for the doctor through the backstage, has solved the problem that orthopedics postoperative patient can't test muscle strength effectively to give the recovered possibility of doctor remote guidance postoperative.
The pressure sensor is pulled to test the pressure value received by the motion rod, the circuit module is combined to complete signal acquisition, processing and transmission, and the equal-length muscle strength test of different angles of the lower limbs is completed. Meanwhile, the circuit module sends the monitored muscle strength value to the mobile phone APP or the background, real-time display and statistics of muscle strength data are achieved, and the problem that a patient cannot test muscle strength after an orthopedic surgery is effectively solved.
In one embodiment, in the knee brace system with muscle force monitoring function, as shown in fig. 2-4, the motion bar 21 is provided with a detent protrusion 23; at least one sliding channel 24 is arranged along the length of the sleeve 22 in multiple directions; at least one clamping groove 25 is arranged along the width direction of the sleeve 22; preferably, the sleeve 22 is provided with a plurality of clamping grooves 25; the plurality of detent grooves 25 are disposed in parallel, and each detent groove corresponds to a bending angle of the leg, for example, fig. 2 shows 4 detent grooves, which represent that the leg is bent by 30 °, 45 °, 50 °, and 60 ° when the detent protrusion 23 is located therein. The clamping groove 25 is communicated with the sliding channel 24; the locking projection 23 is movably disposed in the locking groove 25 or the sliding channel 24, and is selectively located in the locking groove 25 or the sliding channel 24.
The telescopic assembly 2 further comprises: a telescopic rod 26 and a pin 27; the sleeve 2 is sleeved outside the telescopic rod 26 and connected with the telescopic rod 26, and specifically, the sleeve 22 is connected with the outer wall of the fixing part of the telescopic rod 26; the moving part of the telescopic rod 26 is positioned in the sleeve 22 and is connected with the moving rod 21, and particularly, the moving part of the telescopic rod 26 is movably positioned in the sleeve 22; the fixing portion of the telescopic rod 21 is connected to the second bracket 11. One end of the pin 27 is connected with the moving part of the telescopic rod 26, and the other end is positioned outside the sleeve 22.
The first bracket 11 and the second bracket 12 are respectively provided with a mounting hole 14; one end of the moving rod 21 is fixedly arranged in the mounting hole 14 of the first bracket in a snap-in mode; one end of the fixing part of the telescopic rod 26 is fixedly arranged in the mounting hole 14 of the second bracket 12 in a quick-fastening mode.
In this embodiment, the motion rod 21 includes an upper rod body and a lower rod body, the upper rod body is connected to the upper mounting hole of the tension and pressure sensor, and the lower rod body is connected to the lower mounting hole of the tension and pressure sensor, and the specific connection mode may be a threaded connection; when the leg is bent, the moving rod is stressed by pressure and moves in the sliding channel until the clamping protrusion enters the clamping groove corresponding to the bending angle of the leg to be monitored through the sliding channel, the pressure sensor is stressed by the pressure of the moving rod by pulling, the stress borne by the moving rod is monitored, and the detected pressure is transmitted to the circuit module; when the protruding current position screens groove of going out of screens of going out of needs, through rotating the pin, the pin drives the motion portion of telescopic link rotates, and the motion portion of telescopic link drives the motion pole and rotates, until with the protruding removal of screens to sliding channel in, can carry out another bending angle monitoring.
This application is protruding through setting up the screens, sliding channel and screens groove, through the accurate design, makes the crooked angle that each screens groove corresponds a shank, when having realized the different crookedness of shank, the monitoring to the muscle strength of quadriceps femoris muscle of accuracy.
In one embodiment, the knee brace system with muscle force monitoring function, as shown in fig. 5, further includes: a power source;
the circuit module includes: signal acquisition module, central processing unit and wireless communication module.
The signal acquisition module is electrically connected with the pull pressure sensor 3; the central processing unit is electrically connected with the signal acquisition module; the wireless communication module is connected with the central processing unit and is used for transmitting the pulling pressure value processed by the central processing unit to a mobile terminal (mobile phone APP), and preferably, the central processing unit is a single chip microcomputer or a microprocessor; the power supply is connected with the circuit module and used for supplying power to the circuit module, and preferably, the power supply is a battery, such as a lithium battery and the like.
In this embodiment, the signal acquisition module, the central processing unit and the wireless communication module are fixedly arranged on a circuit board, the circuit board is further provided with a charging interface, a power interface and a switch, the charging interface is used for charging a battery, the switch is used for controlling the circuit module to be switched on and off, and the power interface is used for being connected with a power supply;
the signal acquisition module is used for drawing pressure sensor transmission draw pressure sensing signal conversion to central processing unit distinguishable signal, for example, the signal acquisition module will draw pressure sensor's mV level voltage signal and turn into the distinguishable signal of central processing unit, and the preferred microprocessor or singlechip of this embodiment, central processing unit will receive the signal conversion and draw the pressure value, draw the pressure value to pass through wireless communication module and transmit to the removal end (cell-phone APP) of being connected with this wireless communication module on, wireless communication module can preferably be bluetooth communication module.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. A knee brace system with muscle force monitoring, comprising:
the knee joint brace is provided with a first bracket and a second bracket, and the first bracket is movably connected with the second bracket;
the telescopic assembly comprises a moving rod and a sleeve pipe sleeved outside the moving rod;
one end of the moving rod is connected with the first support through a quick buckle, the other end of the moving rod is movably arranged in the sleeve, and one end of the sleeve is connected with the second support through a quick buckle;
a pull pressure sensor connected with the motion rod;
and the circuit module is connected with the pull pressure sensor and used for receiving and processing the pull pressure sensing signal sent by the pull pressure sensor to obtain a pull pressure value and sending the pull pressure value to the mobile terminal.
2. The knee brace system with muscle force monitoring function of claim 1, wherein the motion bar is provided with a detent protrusion;
at least one sliding channel is arranged along the length of the sleeve in multiple directions; at least one clamping groove is arranged along the width direction of the sleeve; the clamping groove is communicated with the sliding channel;
wherein, the screens protruding movable setting is in screens groove or sliding channel.
3. The knee brace system with muscle strength monitoring function of claim 2, wherein the sleeve has a plurality of detent grooves formed thereon.
4. The knee brace system with muscle strength monitoring function of claim 3, wherein the detent grooves are arranged in parallel.
5. The knee brace system with muscle force monitoring function of claim 1, wherein the telescoping assembly further comprises: a telescopic rod;
the sleeve is sleeved outside the telescopic rod and connected with the telescopic rod, and the moving part of the telescopic rod is positioned in the sleeve and connected with the moving rod; the fixing part of the telescopic rod is connected with the second support.
6. The knee brace system with muscle force monitoring function of claim 5, wherein the telescoping assembly further comprises: a pin;
one end of the pin is connected with the moving part of the telescopic rod, and the other end of the pin is positioned outside the sleeve.
7. The knee brace system with muscle force monitoring function of claim 1, further comprising: a power source;
the circuit module includes:
the signal acquisition module is electrically connected with the pull pressure sensor;
the central processing unit is connected with the signal acquisition module;
the wireless communication module is connected with the central processing unit;
the power supply is connected with the circuit module and used for supplying power to the circuit module.
8. The knee brace system with muscle force monitoring function of claim 7, wherein the central processing unit is a single chip or a microprocessor.
9. The knee brace system with muscle force monitoring function of claim 5, wherein the first and second brackets are respectively provided with mounting holes;
one end of the moving rod is fixedly arranged in the mounting hole of the first bracket in a quick-fastening mode; one end of the fixing part of the telescopic rod is fast buckled and fixedly arranged in the mounting hole of the second support.
10. The knee brace system with muscle force monitoring function of claim 1, wherein the first and second brackets are connected by a chuck.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011501609.9A CN112603628A (en) | 2020-12-17 | 2020-12-17 | Knee brace system with muscle strength monitoring function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011501609.9A CN112603628A (en) | 2020-12-17 | 2020-12-17 | Knee brace system with muscle strength monitoring function |
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| CN112603628A true CN112603628A (en) | 2021-04-06 |
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| CN202011501609.9A Pending CN112603628A (en) | 2020-12-17 | 2020-12-17 | Knee brace system with muscle strength monitoring function |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201759570U (en) * | 2010-06-30 | 2011-03-16 | 天津体育学院 | Isometric muscle strength testing device for flexor and extensor muscles of knee joint |
| CN111772577A (en) * | 2019-04-03 | 2020-10-16 | 李道 | Knee joint rehabilitation evaluation system and method based on cloud platform |
| CN111773038A (en) * | 2020-08-06 | 2020-10-16 | 长春工业大学 | Novel lower limb rehabilitation exoskeleton robot and control method |
-
2020
- 2020-12-17 CN CN202011501609.9A patent/CN112603628A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201759570U (en) * | 2010-06-30 | 2011-03-16 | 天津体育学院 | Isometric muscle strength testing device for flexor and extensor muscles of knee joint |
| CN111772577A (en) * | 2019-04-03 | 2020-10-16 | 李道 | Knee joint rehabilitation evaluation system and method based on cloud platform |
| CN111773038A (en) * | 2020-08-06 | 2020-10-16 | 长春工业大学 | Novel lower limb rehabilitation exoskeleton robot and control method |
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Application publication date: 20210406 |