CN204798295U - 一种下肢康复训练机器人 - Google Patents
一种下肢康复训练机器人 Download PDFInfo
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- CN204798295U CN204798295U CN201520263283.9U CN201520263283U CN204798295U CN 204798295 U CN204798295 U CN 204798295U CN 201520263283 U CN201520263283 U CN 201520263283U CN 204798295 U CN204798295 U CN 204798295U
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- Prior art keywords
- bedstead
- hip joint
- module
- rehabilitation training
- vertical lift
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
- 238000012549 training Methods 0.000 title claims abstract description 75
- 210000004394 hip joint Anatomy 0.000 claims description 80
- 230000007246 mechanism Effects 0.000 claims description 72
- 210000003141 lower extremity Anatomy 0.000 claims description 57
- 210000002414 leg Anatomy 0.000 claims description 56
- 239000011664 nicotinic acid Substances 0.000 claims description 42
- 210000000629 knee joint Anatomy 0.000 claims description 41
- 239000000725 suspension Substances 0.000 claims description 35
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 29
- 230000001360 synchronised effect Effects 0.000 claims description 26
- 230000005540 biological transmission Effects 0.000 claims description 8
- 230000005021 gait Effects 0.000 claims description 6
- 238000013508 migration Methods 0.000 abstract 5
- 230000005012 migration Effects 0.000 abstract 5
- 229910000831 Steel Inorganic materials 0.000 abstract 1
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- 230000033001 locomotion Effects 0.000 description 18
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- 238000000034 method Methods 0.000 description 6
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- 230000037396 body weight Effects 0.000 description 3
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- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 3
- 206010008190 Cerebrovascular accident Diseases 0.000 description 2
- 241001269238 Data Species 0.000 description 2
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- 208000027418 Wounds and injury Diseases 0.000 description 2
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- 238000005859 coupling reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
- 210000002683 foot Anatomy 0.000 description 2
- 206010000372 Accident at work Diseases 0.000 description 1
- 206010017577 Gait disturbance Diseases 0.000 description 1
- 210000003423 ankle Anatomy 0.000 description 1
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- 238000002651 drug therapy Methods 0.000 description 1
- 210000003414 extremity Anatomy 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
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
-
- 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
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- 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
- A61H1/0244—Hip
-
- 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
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
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- A—HUMAN NECESSITIES
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- 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
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- A61H1/0266—Foot
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- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0142—Beds
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0165—Damping, vibration related features
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- A61H2201/0173—Means for preventing injuries
- A61H2201/0176—By stopping operation
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- A61H2201/0192—Specific means for adjusting dimensions
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- 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
- A61H2201/1215—Rotary drive
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1481—Special movement conversion means
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- A61H2201/5058—Sensors or detectors
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- 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
- A61H2203/00—Additional characteristics concerning the patient
- A61H2203/04—Position of the patient
- A61H2203/0443—Position of the patient substantially horizontal
- A61H2203/0456—Supine
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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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
- A63B22/0235—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor
Landscapes
- Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Epidemiology (AREA)
- General Health & Medical Sciences (AREA)
- Pain & Pain Management (AREA)
- Veterinary Medicine (AREA)
- Engineering & Computer Science (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
Description
Claims (10)
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201520263283.9U CN204798295U (zh) | 2015-04-27 | 2015-04-27 | 一种下肢康复训练机器人 |
EP15890470.6A EP3290016A4 (en) | 2015-04-27 | 2015-06-09 | Lower limb rehabilitation training robot |
PCT/CN2015/081042 WO2016173091A1 (zh) | 2015-04-27 | 2015-06-09 | 一种下肢康复训练机器人 |
US15/569,081 US10413470B2 (en) | 2015-04-27 | 2015-06-09 | Lower limb rehabilitation training robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201520263283.9U CN204798295U (zh) | 2015-04-27 | 2015-04-27 | 一种下肢康复训练机器人 |
Publications (1)
Publication Number | Publication Date |
---|---|
CN204798295U true CN204798295U (zh) | 2015-11-25 |
Family
ID=54583197
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201520263283.9U Withdrawn - After Issue CN204798295U (zh) | 2015-04-27 | 2015-04-27 | 一种下肢康复训练机器人 |
Country Status (4)
Country | Link |
---|---|
US (1) | US10413470B2 (zh) |
EP (1) | EP3290016A4 (zh) |
CN (1) | CN204798295U (zh) |
WO (1) | WO2016173091A1 (zh) |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104800043A (zh) * | 2015-04-27 | 2015-07-29 | 上海璟和技创机器人有限公司 | 一种下肢康复训练机器人 |
CN106074076A (zh) * | 2016-06-04 | 2016-11-09 | 浙江侍维波机器人科技有限公司 | 多模态感知反馈的医疗康复机器人*** |
CN107174477A (zh) * | 2017-05-18 | 2017-09-19 | 宿州迅驰电子科技有限公司 | 一种智能可穿戴式脑瘫儿康复机器人 |
CN107440882A (zh) * | 2017-08-28 | 2017-12-08 | 浙江工业大学 | 一种下肢康复训练机 |
CN108354608A (zh) * | 2018-02-06 | 2018-08-03 | 武汉理工大学 | 踝关节机械阻抗检测装置 |
CN109620586A (zh) * | 2019-01-31 | 2019-04-16 | 北华大学 | 床椅一体式护理机器人 |
CN110384601A (zh) * | 2019-07-25 | 2019-10-29 | 吉林农业科技学院 | 仿步行膝关节康复治疗机器人及其控制*** |
CN112826697A (zh) * | 2020-12-24 | 2021-05-25 | 阁步(上海)医疗科技有限公司 | 一种下肢康复训练机器人 |
Families Citing this family (24)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102016115982B4 (de) * | 2016-08-26 | 2019-01-17 | ReActive Robotics GmbH | Vorrichtung zur Überführung eines Bettes aus einer bezüglich seiner Längsseiten horizontalen in eine geneigte Position |
CN108578178B (zh) * | 2018-06-27 | 2023-10-13 | 杭州风行医疗器械有限公司 | 一种儿童下肢智能康复*** |
CN108583721A (zh) * | 2018-07-13 | 2018-09-28 | 长沙紫宸科技开发有限公司 | 一种便装式仿生腿 |
CN109316315A (zh) * | 2018-12-11 | 2019-02-12 | 陈浩 | 一种用于脑卒中后遗症患者的肢体辅助康复*** |
CN109602575B (zh) * | 2019-01-07 | 2024-01-02 | 河南翔宇医疗设备股份有限公司 | 一种万向支撑的偏转平板康复训练器 |
CN109846642A (zh) * | 2019-01-23 | 2019-06-07 | 广西大学 | 一种步态训练康复机器人髋部宽度调节锁紧机构 |
CN109806108A (zh) * | 2019-02-22 | 2019-05-28 | 广州哈罗博康复机器人生产有限公司 | 腿部康复装置及康复机器人 |
CN109700638B (zh) * | 2019-03-01 | 2023-08-25 | 河北工业大学 | 一种安装于轮椅座椅的绳驱动下肢关节康复机构 |
CN110025454B (zh) * | 2019-05-16 | 2024-02-13 | 中国科学院合肥物质科学研究院 | 一种配重式下肢康复机器人 |
CN110882131A (zh) * | 2019-11-27 | 2020-03-17 | 哈工(青岛)机器人有限公司 | 一种下肢康复机器人 |
CN111550539B (zh) * | 2020-05-15 | 2023-05-19 | 合肥卓科智能技术有限公司 | 一种四足仿生机器人机载液压动力*** |
CN111803875B (zh) * | 2020-06-29 | 2024-06-04 | 南通铁人运动用品有限公司 | 一种髋部速度测试训练机 |
CN111700778B (zh) * | 2020-06-29 | 2024-05-10 | 河南省祥和康复产业技术研究院有限责任公司 | 穿戴式下肢康复训练*** |
CN111870890A (zh) * | 2020-07-27 | 2020-11-03 | 河南翔宇医疗设备股份有限公司 | 集成评估***的智能升降平行杠康复训练装置 |
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- 2015-06-09 WO PCT/CN2015/081042 patent/WO2016173091A1/zh active Application Filing
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CN108354608B (zh) * | 2018-02-06 | 2020-07-03 | 武汉理工大学 | 踝关节机械阻抗检测装置 |
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CN109620586A (zh) * | 2019-01-31 | 2019-04-16 | 北华大学 | 床椅一体式护理机器人 |
CN109620586B (zh) * | 2019-01-31 | 2023-08-08 | 北华大学 | 床椅一体式护理机器人 |
CN110384601A (zh) * | 2019-07-25 | 2019-10-29 | 吉林农业科技学院 | 仿步行膝关节康复治疗机器人及其控制*** |
CN112826697A (zh) * | 2020-12-24 | 2021-05-25 | 阁步(上海)医疗科技有限公司 | 一种下肢康复训练机器人 |
Also Published As
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EP3290016A4 (en) | 2018-04-25 |
WO2016173091A1 (zh) | 2016-11-03 |
US20180133087A1 (en) | 2018-05-17 |
US10413470B2 (en) | 2019-09-17 |
EP3290016A1 (en) | 2018-03-07 |
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