CN115282560B - Autonomous rehabilitation device for lower limbs - Google Patents
Autonomous rehabilitation device for lower limbs Download PDFInfo
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- CN115282560B CN115282560B CN202210813492.0A CN202210813492A CN115282560B CN 115282560 B CN115282560 B CN 115282560B CN 202210813492 A CN202210813492 A CN 202210813492A CN 115282560 B CN115282560 B CN 115282560B
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- Prior art keywords
- rehabilitation training
- fixing structure
- spring
- knee
- foot fixing
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 35
- 210000003423 ankle Anatomy 0.000 claims abstract description 36
- 210000003127 knee Anatomy 0.000 claims abstract description 34
- 210000002683 foot Anatomy 0.000 claims description 63
- 210000002414 leg Anatomy 0.000 claims description 21
- 238000013459 approach Methods 0.000 claims description 3
- 210000003371 toe Anatomy 0.000 description 15
- 230000005540 biological transmission Effects 0.000 description 6
- 210000003414 extremity Anatomy 0.000 description 4
- 210000001503 joint Anatomy 0.000 description 3
- 206010061225 Limb injury Diseases 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 210000001364 upper extremity Anatomy 0.000 description 2
- 206010060820 Joint injury Diseases 0.000 description 1
- 208000018982 Leg injury Diseases 0.000 description 1
- 208000022542 ankle injury Diseases 0.000 description 1
- 210000000544 articulatio talocruralis Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
- A63B23/0494—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs primarily by articulating the knee joints
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/02—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using resilient force-resisters
- A63B21/05—Linearly-compressed elements
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
- A63B23/08—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs for ankle joints
Landscapes
- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biophysics (AREA)
- Rehabilitation Tools (AREA)
Abstract
The utility model provides a lower limb independently rehabilitation device, includes human bearing structure, different lower limb rehabilitation training structures, switches the structure, wherein switches the structure and can rotatory switch knee ankle rehabilitation training structure, knee rehabilitation training structure, ankle rehabilitation training structure. The invention realizes that one device can perform rehabilitation training on different lower limb joints, and saves space, training and instrument cost.
Description
Technical Field
The invention relates to the field of rehabilitation devices, in particular to an autonomous lower limb rehabilitation device.
Background
In the rehabilitation process of the lower limb injury, the patient needs to actively exercise the lower limb appropriately so as to accelerate the recovery of the leg injury. However, most of the current lower limb training devices are used for training a certain key or part, and the machine occupies a large position, so that the field resources are wasted. For example, patent CN112932491a discloses a lower limb extensor force detection and rehabilitation training machine, which simply trains the reciprocating movement of the legs, involving numerous complex components. For example, CN215351820U proposes an upper and lower limb rehabilitation trainer which implements a machine that can train both upper and lower limbs, but does not involve specific joint locations. Patent CN202110282205.3 is an automatic rehabilitation machine for rehabilitation of lower limbs, which involves multiple mode switches, but this is only a mode switch with increased force, and does not involve training of multiple joints/limb positions.
Therefore, the existing trainer has single function, can only assist one training rehabilitation project, has limited application range, or can not train more specifically on different key joints of lower limbs, if the related multiple parts need to be trained, most situations need to be switched to training instruments, the use is very troublesome and the occupied space is occupied, and therefore, the lower limb autonomous rehabilitation device is provided, and the rehabilitation training of one instrument on a plurality of lower limb keys can be realized.
Disclosure of Invention
The invention aims to provide the lower limb autonomous rehabilitation device which can switch different rehabilitation training structures, and in order to achieve the purposes, the invention adopts the following scheme:
The utility model provides a lower limb autonomous rehabilitation device, includes human bearing structure, lower limb rehabilitation training structure, switch structure. The lower limb rehabilitation training structure comprises a knee ankle rehabilitation training structure, a knee rehabilitation training structure and an ankle rehabilitation training structure; the switching structure is used for rotationally switching the knee ankle rehabilitation training structure, the knee rehabilitation training structure and the ankle rehabilitation training structure; the knee rehabilitation training structure, the ankle rehabilitation training structure and the knee ankle rehabilitation training structure are located on different surfaces of the same rotating shaft, and the switching structure is used for controlling the knee ankle rehabilitation training structure, the knee rehabilitation training structure and the ankle rehabilitation training structure to rotate relative to the human body fixing structure, so that each training structure faces upwards relative to the ground in turn.
The human body supporting structure comprises a supporting spring and a height adjusting device, the height adjusting device is connected with the switching structure, the switching structure is used for controlling the lower limb rehabilitation training structure to rotate relative to the human body fixing structure, the height adjusting device is used for adjusting the height of the human body supporting structure, and after adjustment, the height of the human body supporting structure corresponding to different training structures can be reasonably controlled.
The height adjusting device can adopt different height limiting blocks, for example, an elliptical limiting block is used, and the adjustment of different heights is formed due to the different height supports of the long shaft and the short shaft.
The knee ankle rehabilitation training structure comprises a first foot fixing structure, an elastic structure and a movable groove; the elastic structure part is arranged in the movable groove, and when the first foot fixing structure approaches or departs from the human body supporting structure along the movable groove, the elastic force of the elastic structure is pressed or released.
Further, the elastic structure comprises a first spring, a second spring and an elastic adjusting device, wherein the inner diameter of the second spring is smaller than that of the first spring, the elastic adjusting device controls the axial contact ratio of the second spring and the first spring, and when the second spring completely stretches into the first spring, the elastic force of the elastic structure is maximum.
The knee rehabilitation training structure comprises a second foot fixing structure, an arc-shaped guide rail and a limiting structure; the limiting structure limits the position of the second foot fixing structure on the arc-shaped guide rail; when the second foot fixing structure moves to the first position along the arc-shaped guide rail, the limiting structure is unlocked, and the second foot fixing structure can slide freely along the arc-shaped guide rail; when the second foot fixing structure moves to a second position along the arc-shaped guide rail, the limiting structure is defined, and the second foot fixing structure is limited and slides.
The limiting structure comprises a limiting foot block, an unlocking top block, a locking slide block and a transmission structure, wherein when limiting locking is required to be released, the second foot fixing structure is lifted to a first position, and the unlocking top block jacks the limiting foot block to the upper part of the locking slide block for fixing; when the second foot fixing structure is lifted to the second position, the transmission structure pushes the locking sliding block to release the limiting foot block, and therefore the limiting foot block returns to the limiting position.
The ankle rehabilitation training structure comprises a third foot fixing structure, a supporting seat and a guide rail, wherein the third foot fixing structure can slide in the guide rail; the support base is connected with the bottom of the third leg fixing structure through a rotating shaft, and is provided with a buffer spring, and when the third leg fixing structure rotates through the rotating shaft, the bottom part of the third leg fixing structure presses the buffer spring.
Further, the bottom of the third foot fixing structure is also provided with a supporting spring, a toe accommodating cavity, a linkage rod and a supporting spring limiting block. The bottom is provided with the support spring, so that the third foot fixing structure can move along with the rotation of the rotating shaft and can move downwards in the spring direction properly.
Further, the toe receiving cavity may be vertically opened and closed with respect to the bottom of the third foot fixing structure; the connecting rod links the toe accommodating cavity and the supporting spring limiting block to move, when the toe accommodating cavity on the third foot fixing structure is closed, the connecting rod pushes the supporting spring limiting block to reach the relative limiting position, the supporting spring is limited, and the third foot fixing structure can only rotate along with the rotating shaft at the moment.
The invention has the beneficial effects that:
1. Different lower limb training modes can be switched through the rotary switching structure, space occupation is reduced, and mechanical utilization rate is improved.
2. Different training structures are arranged for each mode, and training is simply and effectively carried out for different lower limb positions.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a knee ankle rehabilitation training structure according to an embodiment of the present invention;
FIG. 2 is a schematic view of a knee rehabilitation training structure according to an embodiment of the present invention;
FIG. 3 is an upward schematic view of an ankle rehabilitation training device according to an embodiment of the present invention;
FIG. 4 is a schematic view of the interior of a human body support structure according to an embodiment of the present invention;
FIG. 5 is an enlarged schematic view of a portion of a knee ankle rehabilitation training device according to an embodiment of the present invention;
FIG. 6 is an enlarged schematic view of a portion of a knee rehabilitation training device according to an embodiment of the present invention;
FIG. 7 is an enlarged schematic view of a portion of an ankle rehabilitation training device according to an embodiment of the present invention.
Detailed Description
For a further understanding of the objects, construction, features, and functions of the invention, reference should be made to the following detailed description of the preferred embodiments.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
The lower limb autonomous rehabilitation device comprises a human body supporting structure 2, a lower limb rehabilitation training structure 1 and a switching structure 3, wherein when a rehabilitation trainer is positioned on the human body supporting structure, the lower limb of the rehabilitation trainer can be placed on the lower limb rehabilitation training structure to perform activity training. The utility model provides a lower limb rehabilitation training structure has three kind rehabilitation training structure, is knee ankle rehabilitation training structure 11, knee rehabilitation training structure 12, ankle rehabilitation training structure 13 respectively, wherein, three kind rehabilitation training structure uses different training structures to pertinently carry out rehabilitation training to different low limbs joints, three kind rehabilitation training structure is connected in the different faces of same axis of rotation, works as when switching structure 3 control axis of rotation, three kind rehabilitation training structure can rotate certain angle for human body supporting structure 2 to carry out mode switching, as shown in fig. 1 for knee ankle rehabilitation training structure 11 up, fig. 2 for knee rehabilitation training structure up, fig. 3 ankle rehabilitation training structure up, through clockwise or anticlockwise rotation switching structure 3, different low limbs rehabilitation training structures can be rotated up, when the rehabilitation training person sits in human body supporting structure 2, can select different low limbs rehabilitation training structures according to different needs.
Further, as shown in fig. 4, the body support structure includes a support spring 22, and a height adjusting device for adjusting the height of the body support structure, and in various embodiments, the height adjusting device and the rotation shaft of the switching structure 3 may be selectively moved in a coordinated manner or not. In this embodiment, the height adjusting device uses height limiting blocks 21 with different heights, in this embodiment, the limiting blocks are a plurality of oval supporting blocks, when different angles are rotated, the height supporting of the oval different major axes and minor axes is used as a limiting height changing mode, the height limiting blocks 21 are connected with the rotating shaft of the switching mechanism 3 to realize linkage movement, and when the switching mechanism controls the rotating shaft to rotate and switch different rehabilitation training structures, the different height limiting blocks 21 are also switched, so that the height adjusting device can simultaneously adjust the height of a proper human body supporting structure according to different modes.
Referring to fig. 5, in this embodiment, the knee ankle rehabilitation training device 11 includes a first foot fixing structure 111 for fixing the feet of a rehabilitation trainer after sitting, an elastic structure 112, and a movable slot 113. The first leg fixing structure 111 is movable in the movable groove 113, and the elastic structure 112 is partially disposed inside the movable groove, and the elastic structure 112 is compressed or released when the first leg fixing structure 111 approaches or moves away from the body support structure 2 along the movable groove 113. The application mode is as follows: after the rehabilitation trainer sits stably, the first foot fixing structure 111 fixes the feet of the rehabilitation trainer, and the first foot fixing structure moves in the movable groove 113 along with the bending or straightening of the knees of the rehabilitation trainer, and simultaneously extrudes the elastic structure 112 to perform rehabilitation training.
In this embodiment, the elastic structure 112 further includes a first spring 1121, a second spring 1122, and an elastic adjustment device 1123, where the second spring 1122 has an inner diameter smaller than that of the first spring 1121, and the elastic adjustment device 1123 adjusts the axial movement of the second spring 1122 relative to the first spring 1121 to control the axial overlapping degree of the first spring 1121 and the second spring 1122 so as to adjust the elastic force of the overall elastic structure 112, and the elastic force is maximum when the second spring 1122 is completely placed in the first spring 1121. In an embodiment, the elastic adjusting structure 1123 is a cylinder for controlling the second spring 1122 to move, which is not described in detail in the conventional art.
As shown in fig. 6, the knee rehabilitation training device 12 includes a second foot fixing structure 121, a limiting structure 122, and an arc-shaped guide rail 123, wherein the second foot fixing structure 121 can slide along the arc-shaped guide rail 123, the limiting structure 122 is used for limiting the position of the second foot fixing structure 121 on the movable guide rail, and the arc-shaped guide rail 123 is wholly perpendicular to the ground. The limiting structure 122 includes a limiting foot block 1221, an unlocking top block 1222, a locking slider 1223, a transmission structure 1224, and a locking slider accommodating cavity 1225, where the limiting foot block 1221 is used to define the position of the second foot fixing structure 121 on the arc-shaped guide rail 123. When the limit of the second foot fixing structure 121 needs to be released, after the second foot fixing structure 121 is lifted up to the first height, the unlocking top block 1222 pushes the limit foot block 1221 to rotate to be separated from the limit position, after the limit foot block 1221 rotates below the locking slide block 1223, the locking slide block 1223 is pushed into the locking slide block accommodating cavity 1225 to continue rotating above the locking slide block 1223, and the locking slide block 1223 supports the second foot fixing structure 121, at this time, the second foot fixing structure 121 is released from the limit and can slide freely on the arc-shaped guide rail 123; when the second pin fixing structure needs to be limited, the second pin fixing structure is lifted up to a second height, the transmission structure 1224 is touched, the transmission rod of the transmission structure 1224 pushes the locking sliding block 1223 into the locking sliding block accommodating cavity 1225, the limiting pin block 1221 is separated from the support of the locking sliding block 1223, and rotates downwards to a limiting position due to the action of gravity, so that the second pin fixing structure 121 is limited and cannot slide downwards. As shown in FIG. 6, in this embodiment, the second foot fixing structure is a cylindrical support pad, and in some embodiments, a weight block can be added above the second foot fixing structure, the foot of the rehabilitation trainer is placed below the cylindrical support pad, and after the limit is released, the sliding of the cylindrical support pad on the arc-shaped guide rail due to the action of gravity is controlled through the bending of the knee.
As shown in fig. 7, the ankle rehabilitation training device 13 includes a third leg fixing structure 131, a supporting seat 132, a guide rail 133, wherein the supporting seat 132 supports the third leg fixing structure 131, the supporting seat 132 is disposed inside the guide rail 133, and the third leg fixing structure 131 can be moved and adjusted on the guide rail 133 to be far away from or near to the human body supporting structure 2. The support base 132 is supported and connected to the bottom of the third leg fixing structure 131 by a rotating shaft 1321, the third leg fixing structure 131 can rotate downwards along with the rotating shaft, the support base 132 is further provided with a buffer spring 1312 below the third leg fixing structure 131, and when the third leg fixing structure 131 rotates downwards along with the rotating shaft 1321, the buffer spring 1312 is compressed.
The third foot fixing structure 131 further includes a toe receiving cavity 1311 at the top end portion, for receiving and limiting the position of the toes when the foot of the rehabilitation patient is inserted into the third foot fixing structure 131, particularly when the rehabilitation patient controls the ankle joint such that the foot is lifted upward, the toes of which can provide a portion of upward force due to the limitation of the toe receiving cavity 1311.
In addition, in the present embodiment, the supporting springs 1312 are also disposed at the bottom periphery of the third leg fixing structure 131, so that the supporting springs 1312 at corresponding positions of the third leg fixing structure 131 can be compressed obliquely toward corresponding directions, and in the present embodiment, the supporting springs 1312 are disposed at both left and right sides of the bottom of the third leg fixing structure 131.
Referring to fig. 7, the present embodiment further has a movable limiting structure for controlling the opening and closing of the toe receiving cavity in a vertical direction with respect to the bottom of the third foot supporting structure. The stop structure includes a lever 1313, where the lever 1313 is configured to convert a force perpendicular to the bottom surface of the third leg support structure into a force horizontal to the bottom surface of the third leg support structure, thereby pushing the spring stop 1314. When the toe accommodating cavity needs to be closed, the toe accommodating cavity is pushed downwards, and the linkage rod 1313 pushes the spring limiting block 1314 to the supporting spring 1312, so that the supporting spring 1312 is limited in height, and the whole third foot fixing structure 131 cannot move in the left-right direction.
Referring to fig. 7 and 3, the use mode of the ankle rehabilitation device 13 is described, when a rehabilitation trainer sits on the human body support structure 2, the proper position is adjusted on the guide rail 133, the feet extend into the third foot fixing structure 131 to be fixed, and simultaneously the toes extend into the toe accommodating cavity 1311, when the rehabilitation trainer applies force to the ankle and the toes through the up-and-down movement of the ankle, the third foot fixing structure 131 rotates along with the rotation shaft 1321, and the buffer spring 1312 below the base is compressed, so that the front-and-rear direction training is performed; when a rehabilitation trainer moves left and right through the ankle, the support springs 1312 arranged on the left and right sides of the base are compressed, so that the rehabilitation training in the left and right directions is performed. When the ankle injury of the rehabilitation trainer is serious, the left and right movement is not needed, so that the toe accommodating cavity 1311 is pushed downwards to be closed, and meanwhile, the supporting spring 1312 is limited, so that the third foot fixing structure 131 cannot move in the left and right directions.
The invention has been described with respect to the above-described embodiments, however, the above-described embodiments are merely examples of practicing the invention. In addition, the technical features described above in the different embodiments of the present invention may be combined with each other as long as they do not collide with each other. It should be noted that the disclosed embodiments do not limit the scope of the invention. On the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
Claims (4)
1. The utility model provides a lower limb independently rehabilitation device, includes human bearing structure, lower limb rehabilitation training structure, switch structure, its characterized in that:
The lower limb rehabilitation training structure comprises a knee ankle rehabilitation training structure, a knee rehabilitation training structure and an ankle rehabilitation training structure; the switching structure is used for rotationally switching the knee ankle rehabilitation training structure, the knee rehabilitation training structure and the ankle rehabilitation training structure;
The knee rehabilitation training structure, the ankle rehabilitation training structure and the knee ankle rehabilitation training structure are positioned on different surfaces of the same rotating shaft, and the switching structure controls the knee ankle rehabilitation training structure, the knee rehabilitation training structure and the ankle rehabilitation training structure to rotate relative to the human body fixing structure;
the knee ankle rehabilitation training structure comprises a first foot fixing structure, an elastic structure and a movable groove;
the elastic structure part is arranged in the movable groove, and when the first foot fixing structure approaches or departs from the human body supporting structure along the movable groove, the elastic force of the elastic structure is pressed or released;
the knee rehabilitation training structure comprises a second foot fixing structure, an arc-shaped guide rail and a limiting structure; the limiting structure limits the position of the second foot fixing structure on the arc-shaped guide rail;
when the second foot fixing structure moves to the first position along the arc-shaped guide rail, the limiting structure is unlocked, and the second foot fixing structure can slide freely along the arc-shaped guide rail;
When the second foot fixing structure moves to a second position along the arc-shaped guide rail, the second foot fixing structure is limited and slides according to the limit structure;
the ankle rehabilitation training structure comprises a third foot fixing structure, a supporting seat and a guide rail, wherein the third foot fixing structure can slide in the guide rail;
The support seat is connected with the bottom of the third leg fixing structure through a rotating shaft, and is provided with a buffer spring, and when the third leg fixing structure rotates through the rotating shaft, the bottom part of the third leg fixing structure presses the buffer spring;
the human body supporting structure comprises a supporting spring and a height adjusting device, the height adjusting device is connected with the switching structure, and the switching structure controls the height adjusting device to adjust the height of the human body supporting structure when the lower limb rehabilitation training structure rotates relative to the human body fixing structure.
2. The lower extremity autonomous rehabilitation device according to claim 1, wherein: the elastic structure comprises a first spring, a second spring and an elastic adjusting device, wherein the inner diameter of the second spring is smaller than that of the first spring, and the elastic adjusting device controls the axial superposition ratio of the second spring and the first spring.
3. The lower extremity autonomous rehabilitation device according to claim 1, wherein: the bottom of the third foot fixing structure is also provided with a supporting spring, a toe accommodating cavity, a linkage rod and a supporting spring limiting block.
4. The lower extremity rehabilitation apparatus according to claim 3, wherein: the toe accommodating cavity can be vertically opened and closed relative to the bottom of the third foot fixing structure; the linkage rod is used for linkage the toe accommodating cavity and the supporting spring limiting block to move.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210813492.0A CN115282560B (en) | 2022-07-12 | 2022-07-12 | Autonomous rehabilitation device for lower limbs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210813492.0A CN115282560B (en) | 2022-07-12 | 2022-07-12 | Autonomous rehabilitation device for lower limbs |
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| Publication Number | Publication Date |
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| CN115282560A CN115282560A (en) | 2022-11-04 |
| CN115282560B true CN115282560B (en) | 2024-04-19 |
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| CN202210813492.0A Active CN115282560B (en) | 2022-07-12 | 2022-07-12 | Autonomous rehabilitation device for lower limbs |
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| CN115282560A (en) | 2022-11-04 |
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