CN113662806A - Knee joint rehabilitation training robot that security performance is high - Google Patents
Knee joint rehabilitation training robot that security performance is high Download PDFInfo
- Publication number
- CN113662806A CN113662806A CN202110955822.5A CN202110955822A CN113662806A CN 113662806 A CN113662806 A CN 113662806A CN 202110955822 A CN202110955822 A CN 202110955822A CN 113662806 A CN113662806 A CN 113662806A
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- rehabilitation training
- knee joint
- supporting arm
- joint rehabilitation
- support arm
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- 210000000629 knee joint Anatomy 0.000 title claims abstract description 32
- 230000007246 mechanism Effects 0.000 claims abstract description 53
- 230000001681 protective effect Effects 0.000 claims abstract description 37
- 230000001012 protector Effects 0.000 claims description 26
- 230000001105 regulatory effect Effects 0.000 claims description 5
- 230000001276 controlling effect Effects 0.000 claims 2
- 230000006378 damage Effects 0.000 abstract description 3
- 208000014674 injury Diseases 0.000 abstract description 3
- 208000027418 Wounds and injury Diseases 0.000 abstract description 2
- 239000011111 cardboard Substances 0.000 description 7
- 210000002414 leg Anatomy 0.000 description 7
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 2
- 208000025674 Anterior Cruciate Ligament injury Diseases 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000008844 regulatory mechanism Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/024—Knee
-
- 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
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- 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 invention discloses a knee joint rehabilitation training robot with high safety performance, which belongs to the technical field of medical equipment and comprises: the support comprises a base, a support rod, a first support arm, a second support arm, a first protective device and a second protective device, wherein one end of the first support arm is connected with one end of the second support arm through a rotating shaft, the other end of the first support arm is fixedly connected with the first protective device, and the other end of the second support arm is fixedly connected with the second protective device; the first protective tool and the second protective tool are both provided with an adjusting mechanism; the bottom end of the supporting rod is detachably connected with the base, and the top end of the supporting rod is detachably connected with the rotating shaft. The knee joint rehabilitation training device is simple in structure, convenient to use, capable of achieving knee joint rehabilitation training, high in safety and capable of avoiding secondary injury to the knee joint during the rehabilitation training.
Description
Technical Field
The invention belongs to the technical field of medical equipment, and particularly relates to a knee joint rehabilitation training robot with high safety performance.
Background
In knee joint trauma, there are many injuries that require long-term rehabilitation training, such as anterior cruciate ligament injury, which is often seen in some sports with more movements, such as twisting, semi-flexion, sudden stop, and collision.
The existing knee joint rehabilitation training robot is generally a movable support frame, a patient supports the support frame to walk with small-amplitude applicability, but the knee joint rehabilitation training robot is poor in applicability, low in auxiliary rehabilitation effect, easy to slide and low in safety, and the patient is easily injured once more.
Therefore, how to provide a knee joint rehabilitation training robot with high safety performance is a problem that needs to be solved urgently by those skilled in the art.
Disclosure of Invention
In view of this, the invention provides a knee joint rehabilitation training robot with high safety performance, which is simple in structure, convenient to use, capable of realizing the rehabilitation training of the knee joint, high in safety and capable of avoiding secondary damage to the knee joint during the rehabilitation training.
In order to achieve the purpose, the invention adopts the following technical scheme:
a knee joint rehabilitation training robot with high safety performance comprises: the support comprises a base, a support rod, a first support arm, a second support arm, a first protective device and a second protective device, wherein one end of the first support arm is connected with one end of the second support arm through a rotating shaft, the other end of the first support arm is fixedly connected with the first protective device, and the other end of the second support arm is fixedly connected with the second protective device; the first protective tool and the second protective tool are both provided with an adjusting mechanism; the bracing piece bottom with the base can be dismantled and be connected, the top with the connection can be dismantled to the pivot.
Preferably, adjustment mechanism includes profile of tooth cutting and stop gear, the one end at first protective equipment and second protective equipment is fixed to the profile of tooth cutting, stop gear fixes first protective equipment with the other end of second protective equipment, just the profile of tooth cutting alternates in stop gear.
Preferably, the limiting mechanism comprises a limiting block and an elastic sheet, a through hole is formed in the limiting block, the tooth-shaped cutting is penetrated through the through hole, one end of the elastic sheet is hinged to the limiting block, and the other end of the elastic sheet extends into the through hole and abuts against the tooth-shaped cutting.
Preferably, the first protector and the second protector are both provided with protective pads inside.
Preferably, an angle adjusting mechanism is installed between the first supporting arm and the second supporting arm.
Preferably, the angle adjusting mechanism comprises a sliding chute, a first sliding block, a second sliding block, a first bolt and a second bolt, the first sliding block is hinged to the first supporting arm, the second sliding block is hinged to the second supporting arm, the sliding chute is positioned on one side of the first supporting arm and one side of the second supporting arm, the first sliding block and the second sliding block are connected in the sliding chute in a sliding manner, and the first bolt penetrates through one end of the sliding chute and is in threaded connection with the end face of the sliding chute; the second bolt penetrates through the other end of the sliding groove and is in threaded connection with the end face of the sliding groove.
Preferably, a force regulating mechanism is further installed between the first support arm and the second support arm.
Preferably, dynamics regulation and control mechanism includes spring box, expanding spring and a plurality of cardboard, expanding spring sets up in the spring box, the spring box is close to first support arm with one side of second support arm is provided with the bar groove, and is a plurality of the cardboard is along horizontal equidistant setting on the expanding spring, and by the bar groove stretches out, first support arm with all install on the second support arm with the fastener that the cardboard is connected.
Preferably, a pedal mechanism is further mounted on the base, and the pedal mechanism is located at the tail end of the first support arm.
Preferably, the pedal mechanism comprises a supporting plate, a rotating wheel and a pedal plate, the supporting plate is fixed on the base, the rotating wheel is rotatably connected to one side of the supporting plate, the pedal plate is rotatably connected to the edge of the rotating wheel, and a binding belt is mounted on the pedal plate.
The invention has the beneficial effects that:
the knee joint rehabilitation training device can realize the knee joint rehabilitation training, reduce the workload of medical staff, has a simple structure, is convenient to use, and can conveniently adjust the opening and closing sizes of the first protective tool and the second protective tool through the adjusting mechanism so as to adapt to patients with different leg types, thereby enlarging the application range.
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 is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural diagram of the adjusting mechanism of the present invention.
Fig. 3 is a schematic structural view of the angle adjusting mechanism of the present invention.
Fig. 4 is a schematic structural diagram of the force adjusting mechanism of the present invention.
Fig. 5 is a schematic structural view of the footrest mechanism of the present invention.
Wherein, in the figure:
1-a base; 2-a support rod; 3-a first support arm; 4-a second support arm; 5-a first protector; 6-a second protective clothing; 7-an adjusting mechanism; 8-tooth-shaped cutting; 9-a limiting block; 10-a spring plate; 11-an angle adjustment mechanism; 12-a chute; 13-a first sliding block; 14-a second slide block; 15-a first bolt; 16-a second bolt; 17-a force regulation mechanism; 18-a spring case; 19-a telescoping spring; 20-clamping plate; 22-a pedal mechanism; 23-a support plate; 24-a rotating wheel; 25-foot pedal; 26-a binding band; 27-a back plate.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Referring to fig. 1, the present invention provides a knee joint rehabilitation training robot with high safety performance, including: the protective device comprises a base 1, a support rod 2, a first support arm 3, a second support arm 4, a first protective device 5 and a second protective device 6, wherein one end of the first support arm 3 is connected with one end of the second support arm 4 through a rotating shaft, the other end of the first support arm 3 is fixedly connected with the first protective device 5, and the other end of the second support arm 4 is fixedly connected with the second protective device 6; the first protector 5 and the second protector 6 are both provided with an adjusting mechanism 7; the bottom end of the support rod 2 is detachably connected with the base 1, and the top end of the support rod is detachably connected with the rotating shaft.
Referring to fig. 2, the adjusting mechanism 7 includes a tooth-shaped insert 8 and a limiting mechanism, the tooth-shaped insert 8 is fixed at one end of the first protector 5 and the second protector 6, the limiting mechanism is fixed at the other end of the first protector 5 and the second protector 6, and the tooth-shaped insert 8 is inserted into the limiting mechanism. The limiting mechanism comprises a limiting block 9 and an elastic sheet 10, a through hole is formed in the limiting block 9, the tooth-shaped cutting strip 8 penetrates through the through hole, one end of the elastic sheet 10 is hinged to the limiting block 9, a return spring is arranged at the hinged position, and the other end of the elastic sheet extends into the through hole and abuts against the tooth-shaped cutting strip 8.
When the opening and closing sizes of the first protector 5 and the second protector 6 are adjusted, the elastic sheet 10 is pressed, one end of the elastic sheet 10, which is clamped with the tooth-shaped inserting strip 8, is lifted, after the tooth-shaped inserting strip 8 extends into the through hole to a proper length, the elastic sheet 10 is released, and the tooth-shaped inserting strip 8 is clamped and fixed by the elastic sheet 10, so that the adjustment of the opening and closing sizes of the first protector 5 and the second protector 6 is completed, the leg-shaped protector is suitable for patients with different leg types, and the application range of the leg-shaped protector is expanded.
In this embodiment, the first protector 5 and the second protector 6 are both provided with protective pads on the inner sides, and the protective pads can be made of breathable sponge, so that the comfort level in use is enhanced, and the rehabilitation training robot can be used for a long time.
An angle regulating mechanism 11 is arranged between the first supporting arm 3 and the second supporting arm 4. Referring to fig. 3, the angle adjusting mechanism 11 includes a sliding chute 12, a first sliding block 13, a second sliding block 14, a first bolt 15 and a second bolt 16, the first sliding block 13 is hinged to the first supporting arm 3, the second sliding block 14 is hinged to the second supporting arm 4, the sliding chute 12 is located on one side of the first supporting arm 3 and one side of the second supporting arm 4, the first sliding block 13 and the second sliding block 14 are slidably connected in the sliding chute 12, and the first bolt 15 penetrates through one end of the sliding chute 12 and is in threaded connection with an end face of the sliding chute 12; the second bolt 16 is inserted from the other end of the slide groove 12 and is screwed with the end face of the slide groove 12. In addition, in order to prevent the first bolt 15 and the second bolt 16 from damaging the first slider 13 and the second slider 14, steel sheets may be attached to the end portions of the first bolt 15 and the second bolt 16.
When the angle range between the first support arm 3 and the second support arm 4 needs to be adjusted, the first bolt 15 and the second bolt 16 are rotated inwards or outwards, so that the movable range between the first slider 13 and the second slider 14 is determined, and the angle between the first support arm 3 and the second support arm 4 can be adjusted to adapt to patients with different requirements.
A force regulating mechanism 17 is further installed between the first supporting arm 3 and the second supporting arm 4. Referring to fig. 4, dynamics regulation and control mechanism 17 includes spring box 18, expanding spring 19 and a plurality of cardboard 20, and expanding spring 19 sets up in spring box 18, and one side that spring box 18 is close to first support arm 3 and second support arm 4 is provided with the bar groove, and a plurality of cardboards 20 set up on expanding spring 19 along horizontal equidistant, and stretch out by the bar groove, all install the fastener that is connected with cardboard 20 on first support arm 3 and the second support arm 4.
The clamping pieces are arranged on the first supporting arm 3 and the second supporting arm 4, so that the clamping plates 20 are conveniently connected. The extension spring 19 is housed in the spring case 18, and functions not only as a housing but also as a guide. Through linking to each other the cardboard 20 with the fastener and different positions department, adjustable expanding spring 19's effective length to realize the regulation of the dynamics in the rehabilitation training process, with the patient that the adaptation different stages are resumeed.
A pedal mechanism 22 is also mounted on the base 1, and referring to fig. 5, the pedal mechanism 22 is located at the tail end of the first support arm 3. The pedal mechanism 22 includes a support plate 23, a rotary wheel 24 and a pedal plate 25, the support plate 23 is fixed on the base 1, the rotary wheel 24 is rotatably connected to one side of the support plate 23, the pedal plate 25 is rotatably connected to an edge position of the rotary wheel 24, and a binding band 26 is mounted on the pedal plate 25. When the pedal mechanism 22 is used, the support rod 2 needs to be removed, and during rehabilitation training, after the leg passes through the second protector 6 and the first protector 5, the foot steps on the pedal 25 to support the leg, and is tied by the tying band 26, and during the process of bending and straightening the knee joint, the pedal 25 makes eccentric circular motion on the rotating wheel 24 to complete rehabilitation training.
In addition, the head end of the base can be provided with a back plate 27, and the back plate 27 is hinged with the base 1 and can be fixed, so that a patient can conveniently lean against the back plate 27 during rehabilitation training; the base 1 is provided with a groove, the backboard 27 is contained in the groove, and the patient can lie down and perform rehabilitation training.
The knee joint rehabilitation training device can realize the knee joint rehabilitation training, reduce the workload of medical staff, has a simple structure, is convenient to use, and can conveniently adjust the opening and closing sizes of the first protective tool and the second protective tool through the adjusting mechanism so as to adapt to patients with different leg types, thereby enlarging the application range.
The working principle of the invention is as follows:
the invention is divided into two application methods: one is to not use the footrest mechanism 22; the second is the use of a footrest mechanism 22.
When not using pedal mechanism 22, pull down pedal mechanism 22, the shank passes second protective equipment 6, first protective equipment 5 after, realizes knee joint rehabilitation training through self shank is crooked, also can rotate the junction at first support arm 3 and second support arm 4, sets up motor and controller, and it is crooked to assist the shank, realizes rehabilitation training.
When the footrest mechanism 22 is used, the footrest mechanism 22 is mounted, the support rod 2 is removed, the leg portion passes through the second protector 6 and the first protector 5, and then the foot is placed on the footrest 25 to support the leg portion, and the foot is tied with the tying band 26, and the footrest 25 is moved eccentrically and circularly on the rotary wheel 24, thereby completing the rehabilitation training.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The utility model provides a knee joint rehabilitation training robot that security performance is high, includes: the support comprises a base, a support rod, a first support arm, a second support arm, a first protective device and a second protective device, wherein one end of the first support arm is connected with one end of the second support arm through a rotating shaft, the other end of the first support arm is fixedly connected with the first protective device, and the other end of the second support arm is fixedly connected with the second protective device; the first protective tool and the second protective tool are both provided with an adjusting mechanism; the bracing piece bottom with the base can be dismantled and be connected, the top with the connection can be dismantled to the pivot.
2. The robot for knee joint rehabilitation training with high safety performance according to claim 1, wherein the adjustment mechanism includes a tooth-shaped insert and a limit mechanism, the tooth-shaped insert is fixed to one end of the first protector and the second protector, the limit mechanism is fixed to the other end of the first protector and the second protector, and the tooth-shaped insert is inserted into the limit mechanism.
3. The knee joint rehabilitation training robot with high safety performance according to claim 2, wherein the limiting mechanism comprises a limiting block and an elastic sheet, a through hole is formed in the limiting block, the tooth-shaped inserting strip penetrates through the through hole, one end of the elastic sheet is hinged with the limiting block, and the other end of the elastic sheet extends into the through hole and abuts against the tooth-shaped inserting strip.
4. The robot for knee joint rehabilitation training with high safety performance according to claim 1 or 2, characterized in that a protection pad is arranged inside each of the first and second protectors.
5. The knee joint rehabilitation training robot with high safety performance according to claim 1, wherein an angle adjusting and controlling mechanism is installed between the first supporting arm and the second supporting arm.
6. The knee joint rehabilitation training robot with high safety performance according to claim 5, wherein the angle regulating mechanism comprises a sliding groove, a first sliding block, a second sliding block, a first bolt and a second bolt, the first sliding block is hinged to the first supporting arm, the second sliding block is hinged to the second supporting arm, the sliding groove is located on one side of the first supporting arm and one side of the second supporting arm, the first sliding block and the second sliding block are slidably connected in the sliding groove, and the first bolt penetrates through one end of the sliding groove and is in threaded connection with the end face of the sliding groove; the second bolt penetrates through the other end of the sliding groove and is in threaded connection with the end face of the sliding groove.
7. The knee joint rehabilitation training robot with high safety performance according to claim 1 or 5, wherein a force adjusting and controlling mechanism is further installed between the first supporting arm and the second supporting arm.
8. The knee joint rehabilitation training robot with high safety performance according to claim 7, wherein the force regulating mechanism comprises a spring box, an expansion spring and a plurality of clamping plates, the expansion spring is arranged in the spring box, one side of the spring box, which is close to the first supporting arm and the second supporting arm, is provided with a strip-shaped groove, the clamping plates are arranged on the expansion spring at equal intervals in the transverse direction and extend out of the strip-shaped groove, and clamping pieces connected with the clamping plates are arranged on the first supporting arm and the second supporting arm.
9. The knee joint rehabilitation training robot with high safety performance according to claim 1, wherein a pedal mechanism is further mounted on the base, and the pedal mechanism is located at the tail end of the first supporting arm.
10. The robot for rehabilitation training of knee joint with high safety performance of claim 9, wherein the pedal mechanism comprises a support plate, a rotating wheel and a pedal plate, the support plate is fixed on the base, the rotating wheel is rotatably connected to one side of the support plate, the pedal plate is rotatably connected to the edge position of the rotating wheel, and the pedal plate is provided with a binding belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110955822.5A CN113662806A (en) | 2021-08-19 | 2021-08-19 | Knee joint rehabilitation training robot that security performance is high |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110955822.5A CN113662806A (en) | 2021-08-19 | 2021-08-19 | Knee joint rehabilitation training robot that security performance is high |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113662806A true CN113662806A (en) | 2021-11-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110955822.5A Pending CN113662806A (en) | 2021-08-19 | 2021-08-19 | Knee joint rehabilitation training robot that security performance is high |
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| Country | Link |
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| CN (1) | CN113662806A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6171272B1 (en) * | 1995-10-12 | 2001-01-09 | Nhk Spring Co., Ltd. | Short leg brace |
| TWI231536B (en) * | 2003-05-12 | 2005-04-21 | Macronix Int Co Ltd | Apparatus and method for etching silicon nitride thin film |
| KR20120078921A (en) * | 2011-01-03 | 2012-07-11 | 최주희 | Apparatus for rehabilitating a knee joint |
| CN205163359U (en) * | 2015-11-04 | 2016-04-20 | 王维光 | Novel treatment of knee joint rehabilitation device |
| CN108095976A (en) * | 2018-02-06 | 2018-06-01 | 吉林大学 | A kind of bionic knee joint device for healing and training with passively rebound |
| CN109663291A (en) * | 2018-12-26 | 2019-04-23 | 宿州学院 | A kind of adaptive sport lashing wire apptss |
| CN109984920A (en) * | 2019-05-15 | 2019-07-09 | 燕山大学 | A kind of knee joint recovery robot of human-computer fusion |
| CN211434934U (en) * | 2019-12-26 | 2020-09-08 | 郭红艳 | Motion support for puerpera rehabilitation |
| CN213098963U (en) * | 2020-07-31 | 2021-05-04 | 杭州市第一人民医院 | Lower limb active stretching knee and hip joint exercise device |
| CN113230092A (en) * | 2021-06-16 | 2021-08-10 | 王小洁 | Recovered auxiliary device of orthopedics nursing |
-
2021
- 2021-08-19 CN CN202110955822.5A patent/CN113662806A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6171272B1 (en) * | 1995-10-12 | 2001-01-09 | Nhk Spring Co., Ltd. | Short leg brace |
| TWI231536B (en) * | 2003-05-12 | 2005-04-21 | Macronix Int Co Ltd | Apparatus and method for etching silicon nitride thin film |
| KR20120078921A (en) * | 2011-01-03 | 2012-07-11 | 최주희 | Apparatus for rehabilitating a knee joint |
| CN205163359U (en) * | 2015-11-04 | 2016-04-20 | 王维光 | Novel treatment of knee joint rehabilitation device |
| CN108095976A (en) * | 2018-02-06 | 2018-06-01 | 吉林大学 | A kind of bionic knee joint device for healing and training with passively rebound |
| CN109663291A (en) * | 2018-12-26 | 2019-04-23 | 宿州学院 | A kind of adaptive sport lashing wire apptss |
| CN109984920A (en) * | 2019-05-15 | 2019-07-09 | 燕山大学 | A kind of knee joint recovery robot of human-computer fusion |
| CN211434934U (en) * | 2019-12-26 | 2020-09-08 | 郭红艳 | Motion support for puerpera rehabilitation |
| CN213098963U (en) * | 2020-07-31 | 2021-05-04 | 杭州市第一人民医院 | Lower limb active stretching knee and hip joint exercise device |
| CN113230092A (en) * | 2021-06-16 | 2021-08-10 | 王小洁 | Recovered auxiliary device of orthopedics nursing |
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