CN205286869U - Ectoskeleton formula removes rehabilitation training device of walking - Google Patents
Ectoskeleton formula removes rehabilitation training device of walking Download PDFInfo
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- CN205286869U CN205286869U CN201521107927.1U CN201521107927U CN205286869U CN 205286869 U CN205286869 U CN 205286869U CN 201521107927 U CN201521107927 U CN 201521107927U CN 205286869 U CN205286869 U CN 205286869U
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- 210000004394 hip joint Anatomy 0.000 claims abstract description 47
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 22
- 210000000629 knee joint Anatomy 0.000 claims abstract description 22
- 210000000689 upper leg Anatomy 0.000 claims abstract description 16
- 238000005096 rolling process Methods 0.000 claims description 21
- 230000002452 interceptive effect Effects 0.000 claims description 6
- 210000002414 leg Anatomy 0.000 abstract description 10
- 238000009434 installation Methods 0.000 abstract description 5
- 206010008190 Cerebrovascular accident Diseases 0.000 abstract description 2
- 208000006011 Stroke Diseases 0.000 abstract description 2
- 230000002490 cerebral effect Effects 0.000 abstract description 2
- 230000005021 gait Effects 0.000 abstract description 2
- 210000002683 foot Anatomy 0.000 abstract 3
- 208000020339 Spinal injury Diseases 0.000 abstract 1
- 230000008878 coupling Effects 0.000 abstract 1
- 238000010168 coupling process Methods 0.000 abstract 1
- 238000005859 coupling reaction Methods 0.000 abstract 1
- 230000035876 healing Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000005484 gravity Effects 0.000 description 3
- 230000006742 locomotor activity Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 210000003141 lower extremity Anatomy 0.000 description 2
- 230000037230 mobility Effects 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 208000028389 Nerve injury Diseases 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009432 framing Methods 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 206010028417 myasthenia gravis Diseases 0.000 description 1
- 230000008764 nerve damage Effects 0.000 description 1
- 230000035479 physiological effects, processes and functions Effects 0.000 description 1
- 208000020431 spinal cord injury Diseases 0.000 description 1
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Abstract
The utility model provides an ectoskeleton formula removes rehabilitation training device of walking, including supporting the support body, installing ectoskeleton mechanical legs and control system module on supporting the support body respectively, the ectoskeleton mechanical legs set up in pairs, installation width adjusting device between the two ectoskeleton mechanical legs, control system module respectively with ectoskeleton mechanical legs and support frame body coupling, ectoskeleton mechanical legs includes hip joint connecting rod, hip joint motor, thigh connecting rod, knee joint motor, shank connecting rod, ankle joint motor, sole and mount, this device collects on foot rehabilitation training and assists on foot in an organic whole, and control system module carries out rotation control to installing in the motor of hip joint, knee joint and ankle joint, realizes ectoskeleton mechanical legs's gait motion, and then drives patient's thigh, shank and sole respectively and do exercises, reaches the formula of contacting to earth and removes the purpose of rehabilitation training on foot, the realization is to cerebral apoplexy patient, neurotrosis patient and the removal in recovered later stage of the spinal injury patient rehabilitation training of walking.
Description
Technical field
This utility model relates to device for healing and training, particularly relates to a kind of exoskeleton-type and moves walking rehabilitation training device.
Background technology
Along with progress and the highly desirable locomotor activity that can recover self of socioeconomic development, old people and lower limb disability crowd of science and technology, throw off one's illness the physiology to oneself and the psychological misery brought. From initial crutch to common hand propelled wheelchair, then electric wheelchair common on market till now, these all achieve leg myasthenia gravis patients and the locomotive function of lower part of the body hemiplegia patient. But, most electric wheelchairs do not have the function of walking rehabilitation training, and patient still can not truly recover the locomotor activity of self after using electric wheelchair. On the other hand, it is not only expensive that the leg power of hospital and rehabilitation center resumes training system, and portability is poor, the training time is short, function singleness, is difficult to effectively recover the walking ability of patient. At present, having developed and produced a collection of Wearable exoskeleton mobile apparatus people both at home and abroad, though having certain coordination ability and adaptive capacity, but owing to it is expensive, and Security mechanism is more weak, is therefore difficult to promote at home come. So, walking rehabilitation training is applied in the daily life of patient, make lower limb disability patient can obtain walking rehabilitation training in the process of daily walking safely, patient recovered early to locomotor activity, reduce rehabilitation training expense, improve the quality of life etc. of patient and family members thereof, have very important significance.
Utility model content
In order to solve prior art Problems existing, the purpose of this utility model provides a kind of exoskeleton-type and moves walking rehabilitation training device.
The technical scheme that this utility model is taked is: a kind of exoskeleton-type moves walking rehabilitation training device, it includes supporting frame, be separately mounted on supporting frame ectoskeleton pedipulator and control system module, described ectoskeleton pedipulator is arranged in pairs, installing width adjusting device between two ectoskeleton pedipulators, described control system module is connected with ectoskeleton pedipulator and supporting frame respectively;
Both sides crossbeam is respectively equipped with in the middle part of support frame as described above body guide rod, described guide rod is plugged with base, setting height(from bottom) micromatic setting on described base;
Described ectoskeleton pedipulator is arranged in pairs, and it includes hip joint connecting rod, hip joint motor, thick link, knee joint motor, shank link, ankle joint motor, sole and fixed mount;
Described width adjusting device is arranged on above height fine-adjustment, described hip joint connecting rod is connected with width adjusting device, described hip joint connecting rod is connected with thick link by the connecting key being arranged on hip joint motor, extension of hip joint contracting bar it is plugged with in described thick link, described thigh expansion link is connected with shank link by the connecting key being arranged on knee joint motor, grafting shank expansion link in described shank link, described shank expansion link is connected with sole by the connecting key being arranged on ankle joint motor, described fixed mount is separately mounted on thick link and shank link.
Preferably, support frame as described above body includes vehicle frame, is separately mounted to the drive motor on vehicle frame, rear drive sprocket and front jockey wheel, and described vehicle frame is �� shape, and described drive motor is connected with control system module and rear drive sprocket respectively.
Preferably, described control system module includes battery, the controller being connected with battery respectively by wire and interactive display, described battery is arranged on the crossbeam of vehicle frame bottom-rear, described controller is arranged on the crossbeam in the middle part of vehicle frame rear, controller is connected with hip joint motor, knee joint motor and ankle joint motor respectively by wire, and described interactive display is arranged on the vertical beam in vehicle frame front.
Preferably, described width adjusting device includes gathering sill, bearing block, threaded guide rod, rolling bearing and bearing cap, described gathering sill is arranged on height fine-adjustment, described bearing block is separately mounted to gathering sill both sides, threaded guide rod both sides are separately mounted in bearing block by rolling bearing, and described bearing cap covers the outside being contained in bearing block respectively;
Described hip joint connecting rod is screwed onto on threaded guide rod respectively, and the back of hip joint connecting rod is provided with the slide block suitable with gathering sill.
Preferably, described threaded guide rod one end is provided with handwheel.
Preferably, the outside of described hip joint connecting rod is respectively mounted handrail.
Preferably, described threaded guide rod is provided with screw thread two sections oppositely oriented.
Preferably, described hip joint motor is arranged on hip joint connecting rod front by two semicircular installation sets, and the motor shaft of hip joint motor is arranged on inside hip joint connecting rod by rolling bearing.
Preferably, described knee joint motor is arranged on below thigh expansion link by two semicircular installation sets, the motor shaft of knee joint motor is arranged on inside thigh expansion link by rolling bearing, and rolling bearing is by the motor shaft ladder fixed lateral position of bearing cap and knee joint motor.
Preferably, described ankle joint motor is arranged on below shank expansion link by two semicircular installation sets, the motor shaft of ankle joint motor is arranged on inside shank expansion link by rolling bearing, and described rolling bearing is by the motor shaft ladder fixed lateral position of bearing cap and ankle joint motor.
Preferably, described height fine-adjustment is extension sleeve.
Preferably, described fixed mount includes fixed frame, apron block and baffle plate, and described fixed frame is separately mounted to thigh bar and the rear of shank bar, and described apron block is separately mounted to thigh bar and the front of shank bar, described baffle plate one end is hinged in apron block, and the other end is connected with fixed frame.
Adopting technique scheme, the technique effect that this utility model produces has:
(1) compact conformation, good stability; This invention floor space is little, and center of gravity is low, and can move according to predetermined speed by the control of drive motor and each joint motor makes this move walking rehabilitation training device, allows patient can be smoothly performed walking rehabilitation training.
(2) easy to use, mobility is good; Utilize height fine-adjustment and width adjusting device can be conveniently adjusted position and the height of device for healing and training all parts, so as to match with the build of patient; The ectoskeleton pedipulator of the leg of oneself Yu device for healing and training only need to be fixed together by patient in use, can walk or rehabilitation training, and the wheel type mobile mode that device for healing and training adopts also greatly strengthen the mobility of this training devices.
(3) degree of safety is high; The relatively low structural design of center of gravity makes walking rehabilitation training device be difficult to tumble; Pedipulator fixed framing device makes patient be fixed in training devices in use all the time and avoid falling down; Handrail provides the strong point for patient when carrying out rehabilitation training; The control of mobile platform drive motor be ensure that the at the uniform velocity traveling of device for healing and training by control system, it is prevented that patient fortuitous event occurs when upward slope, descending and the walking of other complex road surfaces.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the structural representation of this utility model supporting frame;
Fig. 3 is the structural representation of this utility model height fine-adjustment;
Fig. 4 is the structural blast figure of this utility model width adjusting device;
Fig. 5 is the structural blast figure that this utility model hip joint motor is installed;
Fig. 6 is the structural blast figure that this utility model knee joint motor is installed;
Fig. 7 is the structural blast figure that this utility model ankle joint motor is installed;
Fig. 8 is the partial schematic diagram of this utility model shank link;
Fig. 9 is the structural representation of this utility model fixed mount.
Detailed description of the invention
Below in conjunction with accompanying drawing, this utility model embodiment is described in detail.
As shown in Fig. 1-Fig. 7, structural representation of the present utility model, it includes supporting frame 1, be separately mounted on supporting frame 1 ectoskeleton pedipulator 2 and control system module 3, ectoskeleton pedipulator 2 is arranged in pairs, width adjusting device 4 is installed between two ectoskeleton pedipulators 2, controls system module 3 and be connected with ectoskeleton pedipulator 2 and supporting frame 1 respectively;
Both sides crossbeam is respectively equipped with in the middle part of supporting frame 1 guide rod 11, guide rod 11 is plugged with base 12, setting height(from bottom) micromatic setting 51 on base 12; Guide rod 11 offers the pin hole 20 that spacing is 10mm, base 12 is arranged on guide rod 11 by pin 40, change the height of the pin 40 installation site on guide rod 11 and scalable height fine-adjustment 4, height fine-adjustment 4 is extension sleeve, automatically with the height of patient's waist center of gravity, the height of ectoskeleton pedipulator 2 is kept consistent when patient walks in advance by height fine-adjustment 4;
Ectoskeleton pedipulator 2 is arranged in pairs, and it includes hip joint connecting rod 21, hip joint motor 22, thick link 23, knee joint motor 24, shank link 25, ankle joint motor 26, sole 27 and fixed mount 28;
Width adjusting device 4 is arranged on above height fine-adjustment 41, hip joint connecting rod 21 is connected with width adjusting device 4, hip joint connecting rod 21 is connected with thick link 23 by the connecting key 5 being arranged on hip joint motor 22, extension of hip joint contracting bar 6 it is plugged with in thick link 23, thigh expansion link 6 is connected with shank link 25 by the connecting key 5 being arranged on knee joint motor 24, grafting shank expansion link 7 in shank link 25, shank expansion link 7 is connected with sole 27 by the connecting key 5 being arranged on ankle joint motor 26;Fixed mount 28 is separately mounted on thick link 23 and shank link 25.
Supporting frame 1 includes vehicle frame 13, it is separately mounted to the drive motor 14 on vehicle frame 13, drives trailing wheel 15 and front jockey wheel 16, vehicle frame 13 is �� shape, drive motor 14 is connected with control modular system module 3 and rear drive sprocket 15 respectively, drive motor 14 and rear drive sprocket 15 are separately mounted to vehicle frame 13 rear, front jockey wheel 16 is separately mounted to vehicle frame 13 front, is controlled the turning function of vehicle frame 13 by front jockey wheel 16, and drive motor 14 is connected with rear drive sprocket 15 by the mode of worm gear, worm screw and reduction box.
Control system module 3 and include battery 31, the controller 32 being connected with battery 31 respectively by wire and interactive display 33, battery 31 is arranged on the crossbeam of vehicle frame 13 bottom-rear, controller 32 is arranged on the crossbeam in the middle part of vehicle frame 13 rear, controller 32 is connected with hip joint motor 22, knee joint motor 24 and ankle joint motor 26 respectively by wire, and interactive display 33 is arranged on the vertical beam in vehicle frame 13 front.
Width adjusting device 4 includes gathering sill 41, bearing block 42, threaded guide rod 43, rolling bearing 44 and bearing cap 45, gathering sill 41 is arranged on height fine-adjustment 51, bearing block 42 is separately mounted to gathering sill 41 both sides, threaded guide rod 43 both sides are separately mounted in bearing block 42 by rolling bearing 44, and bearing cap 45 covers the outside being contained in bearing block 42 respectively; Hip joint connecting rod 21 is screwed onto on threaded guide rod 43 respectively, and the back of hip joint connecting rod 21 is provided with the slide block 421 suitable with gathering sill 41; Threaded guide rod 43 is provided with screw thread two sections oppositely oriented, and threaded guide rod 43 one end is provided with handwheel 8, and rotating forward handwheel 8 can increase the spacing of pedipulator, reversely rotates handwheel 8 and can reduce the spacing of pedipulator; The outside of hip joint connecting rod 21 is respectively mounted handrail 9, hand steered for patient in ambulation training process, provides the strong point for patient.
Hip joint motor 22 is arranged on hip joint connecting rod 21 front by two semicircular sets 10 of installing, and the motor shaft of hip joint motor 22 is arranged on inside hip joint connecting rod 21 by rolling bearing 44.
Knee joint motor 24 is arranged on below thigh expansion link 6 by two semicircular sets 10 of installing, the motor shaft of knee joint motor 24 is arranged on inside thigh expansion link 6 by rolling bearing 44, and rolling bearing 44 is by the motor shaft ladder fixed lateral position of bearing cap 45 and knee joint motor 24.
Ankle joint motor 26 is arranged on below shank expansion link 7 by two semicircular sets 10 of installing, the motor shaft of ankle joint motor 26 is arranged on inside shank expansion link 7 by rolling bearing 44, and rolling bearing 44 is by the motor shaft ladder fixed lateral position of bearing cap 45 and ankle joint motor 26.
Thick link 23 and shank link 25 are identical stretching structure, as shown in Figure 8, illustrate for shank link 25, shank expansion link 7 it is plugged with in shank link 25, shank link 25 side opening is provided with the pin hole 20 that spacing is 10mm, shank expansion link 7 is plugged in shank link 25 by pin 40, and the position and the scalable shank expansion link 7 that change pin 40 are plugged on the length in shank link 25.
As described in Figure 9, fixed mount 28 includes fixed frame 281, apron block 282 and baffle plate 283, fixed frame 281 is arranged on the rear of shank link 25, apron block 282 is arranged on the front of shank bar 25, baffle plate 283 one end is hinged in apron block 282, the other end is connected with the groove offered on fixed frame 281, it is achieved the secondary of patient legs is fixed, it is prevented that patient falls down phenomenon;The mode that fixed mount 28 is arranged on thick link 23 is consistent with the above.
This utility model collection walking rehabilitation training and walking aid in one, control by controlling the rotation of the system module motor to being installed on hip joint, knee joint and ankle joint, realize the gait motion of ectoskeleton pedipulator, and then drive patient thigh, shank and sole to move respectively, reach ground contact type and move the purpose of walking rehabilitation training; This device can realize patients with cerebral apoplexy, patient with nerve damage and the mobile walking rehabilitation training in spinal cord injury Rehabilitation later stage.
The above; it is only detailed description of the invention of the present utility model; but protection domain of the present utility model is not limited thereto; any those familiar with the art is in the technical scope that this utility model discloses; the change that can readily occur in or replacement, all should be encompassed within protection domain of the present utility model. Therefore, protection domain of the present utility model should be as the criterion with described scope of the claims.
Claims (12)
1. an exoskeleton-type moves walking rehabilitation training device, it is characterized in that: it includes supporting frame (1), the ectoskeleton pedipulator (2) that is separately mounted on supporting frame (1) and control system module (3), described ectoskeleton pedipulator (2) is arranged in pairs, installing width adjusting device (4) between two ectoskeleton pedipulators (2), described control system module (3) is connected with ectoskeleton pedipulator (2) and supporting frame (1) respectively;
Both sides, support frame as described above body (1) middle part crossbeam is respectively equipped with guide rod (11), described guide rod (11) is plugged with base (12), the upper setting height(from bottom) micromatic setting (51) of described base (12);
Described ectoskeleton pedipulator (2) is arranged in pairs, and it includes hip joint connecting rod (21), hip joint motor (22), thick link (23), knee joint motor (24), shank link (25), ankle joint motor (26), sole (27) and fixed mount (28);
Described width adjusting device (4) is arranged on height fine-adjustment (51) top, described hip joint connecting rod (21) is connected with width adjusting device (4), described hip joint connecting rod (21) is connected with thick link (23) by the connecting key (5) being arranged on hip joint motor (22), extension of hip joint contracting bar (6) it is plugged with in described thick link (23), described thigh expansion link (6) is connected with shank link (25) by the connecting key (5) being arranged on knee joint motor (24), described shank link (25) interior grafting shank expansion link (7), described shank expansion link (7) is connected with sole (27) by the connecting key (5) being arranged on ankle joint motor (26), described fixed mount (28) is separately mounted on thick link (23) and shank link (25).
2. exoskeleton-type according to claim 1 moves walking rehabilitation training device, it is characterized in that: support frame as described above body (1) includes vehicle frame (13), it is separately mounted to the drive motor (14) on vehicle frame (13), rear drive sprocket (15) and front jockey wheel (16), described vehicle frame (13) is �� shape, and described drive motor (14) is connected with control system module (3) and rear drive sprocket (15) respectively.
3. exoskeleton-type according to claim 1 moves walking rehabilitation training device, it is characterized in that: described control system module (3) includes battery (31), the controller (32) being connected with battery (31) respectively by wire and interactive display (33), described battery (31) is arranged on the crossbeam of vehicle frame (13) bottom-rear, described controller (32) is arranged on the crossbeam in the middle part of vehicle frame (13) rear, controller (32) by wire respectively with hip joint motor (22), knee joint motor (24) and ankle joint motor (26) connect, described interactive display (33) is arranged on the vertical beam in vehicle frame (13) front.
4. exoskeleton-type according to claim 1 moves walking rehabilitation training device, it is characterized in that: described width adjusting device (4) includes gathering sill (41), bearing block (42), threaded guide rod (43), rolling bearing (44) and bearing cap (45), described gathering sill (41) is arranged on height fine-adjustment (51), described bearing block (42) is separately mounted to gathering sill (41) both sides, threaded guide rod (43) both sides are separately mounted in bearing block (42) by rolling bearing (44), described bearing cap (45) covers the outside being contained in bearing block (42) respectively,
Described hip joint connecting rod (21) is screwed onto on threaded guide rod (43) respectively, and the back of hip joint connecting rod (21) is provided with the slide block (421) suitable with gathering sill (41).
5. exoskeleton-type according to claim 4 moves walking rehabilitation training device, it is characterised in that: described threaded guide rod (43) one end is provided with handwheel (8).
6. the exoskeleton-type according to claim 1 or 4 moves walking rehabilitation training device, it is characterised in that: the outside of described hip joint connecting rod (21) is respectively mounted handrail (9).
7. the exoskeleton-type according to claim 4 or 5 moves walking rehabilitation training device, it is characterised in that: described threaded guide rod (43) is provided with screw thread two sections oppositely oriented.
8. move walking rehabilitation training device according to the exoskeleton-type described in claim 1, it is characterized in that: described hip joint motor (22) is arranged on hip joint connecting rod (21) front by two semicircular sets (10) of installing, and the motor shaft of hip joint motor (22) is arranged on hip joint connecting rod (21) inner side by rolling bearing (44).
9. move walking rehabilitation training device according to the exoskeleton-type described in claim 1, it is characterized in that: described knee joint motor (24) is arranged on thigh expansion link (6) lower section by two semicircular sets (10) of installing, the motor shaft of knee joint motor (24) is arranged on thigh expansion link (6) inner side, the rolling bearing (44) the motor shaft ladder fixed lateral position by bearing cap (45) and knee joint motor (24) by rolling bearing (44).
10. move walking rehabilitation training device according to the exoskeleton-type described in claim 1, it is characterized in that: described ankle joint motor (26) is arranged on shank expansion link (7) lower section by two semicircular sets (10) of installing, the motor shaft of ankle joint motor (26) is arranged on shank expansion link (7) inner side, the rolling bearing (44) the motor shaft ladder fixed lateral position by bearing cap (45) and ankle joint motor (26) by rolling bearing (44).
11. move walking rehabilitation training device according to the exoskeleton-type described in claim 1, it is characterised in that: described height fine-adjustment (51) is extension sleeve.
12. move walking rehabilitation training device according to the exoskeleton-type described in claim 1, it is characterized in that: described fixed mount (28) includes fixed frame (281), apron block (282) and baffle plate (283), described fixed frame (281) is separately mounted to thigh bar (23) and the rear of shank bar (25), described apron block (282) is separately mounted to thigh bar (23) and the front of shank bar (25), described baffle plate (283) one end is hinged in apron block (282), and the other end is connected with fixed frame (281).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521107927.1U CN205286869U (en) | 2015-12-28 | 2015-12-28 | Ectoskeleton formula removes rehabilitation training device of walking |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521107927.1U CN205286869U (en) | 2015-12-28 | 2015-12-28 | Ectoskeleton formula removes rehabilitation training device of walking |
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| CN205286869U true CN205286869U (en) | 2016-06-08 |
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| CN201521107927.1U Active CN205286869U (en) | 2015-12-28 | 2015-12-28 | Ectoskeleton formula removes rehabilitation training device of walking |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106539668A (en) * | 2017-01-11 | 2017-03-29 | 刘建英 | A kind of gait rehabilitation training devicess |
| CN107693304A (en) * | 2017-10-26 | 2018-02-16 | 河海大学常州校区 | A kind of lower limb rehabilitation robot |
| CN108297753A (en) * | 2016-08-17 | 2018-07-20 | 福特全球技术公司 | Mobile system |
| CN109549823A (en) * | 2019-01-31 | 2019-04-02 | 河南省中医院（河南中医药大学第二附属医院） | Orthopedic nerve rehabilitation auxiliary protection device |
| CN111685979A (en) * | 2020-06-10 | 2020-09-22 | 遂宁市中心医院 | Neural recovered motion trainer |
| CN111920657A (en) * | 2020-08-12 | 2020-11-13 | 遂宁市中心医院 | Neural recovered motion trainer |
| CN112057297A (en) * | 2020-09-21 | 2020-12-11 | 广东甲子科技有限公司 | Lightweight long-endurance lower limb walking-aid exoskeleton robot |
| CN112545846A (en) * | 2020-12-29 | 2021-03-26 | 西北工业大学 | Power type multi-degree-of-freedom walking-aid lower limb exoskeleton robot based on intention recognition |
| CN113797066A (en) * | 2020-06-13 | 2021-12-17 | 山东天赐慧邦医养健康产业集团有限公司 | Be applied to anti-ageing rehabilitation training device of old person's leg and foot |
| CN114305989A (en) * | 2021-12-29 | 2022-04-12 | 钛虎机器人科技(上海)有限公司 | Exoskeleton assistance and lower limb rehabilitation integrated robot |
| CN115054492A (en) * | 2022-06-17 | 2022-09-16 | 天津大学 | Active-passive driving integrated ankle joint walking aid rehabilitation system |
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2015
- 2015-12-28 CN CN201521107927.1U patent/CN205286869U/en active Active
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108297753A (en) * | 2016-08-17 | 2018-07-20 | 福特全球技术公司 | Mobile system |
| CN106539668B (en) * | 2017-01-11 | 2019-03-19 | 刘建英 | A kind of gait rehabilitation training device |
| CN106539668A (en) * | 2017-01-11 | 2017-03-29 | 刘建英 | A kind of gait rehabilitation training devicess |
| CN107693304A (en) * | 2017-10-26 | 2018-02-16 | 河海大学常州校区 | A kind of lower limb rehabilitation robot |
| CN109549823A (en) * | 2019-01-31 | 2019-04-02 | 河南省中医院（河南中医药大学第二附属医院） | Orthopedic nerve rehabilitation auxiliary protection device |
| CN109549823B (en) * | 2019-01-31 | 2020-10-13 | 河南省中医院（河南中医药大学第二附属医院） | Orthopedic nerve rehabilitation auxiliary protection device |
| CN111685979A (en) * | 2020-06-10 | 2020-09-22 | 遂宁市中心医院 | Neural recovered motion trainer |
| CN113797066A (en) * | 2020-06-13 | 2021-12-17 | 山东天赐慧邦医养健康产业集团有限公司 | Be applied to anti-ageing rehabilitation training device of old person's leg and foot |
| CN111920657A (en) * | 2020-08-12 | 2020-11-13 | 遂宁市中心医院 | Neural recovered motion trainer |
| CN111920657B (en) * | 2020-08-12 | 2023-02-24 | 遂宁市中心医院 | Neural recovered motion trainer |
| CN112057297A (en) * | 2020-09-21 | 2020-12-11 | 广东甲子科技有限公司 | Lightweight long-endurance lower limb walking-aid exoskeleton robot |
| CN112545846A (en) * | 2020-12-29 | 2021-03-26 | 西北工业大学 | Power type multi-degree-of-freedom walking-aid lower limb exoskeleton robot based on intention recognition |
| CN112545846B (en) * | 2020-12-29 | 2023-11-21 | 西北工业大学 | Power type multi-degree-of-freedom walking-assisting lower limb exoskeleton robot based on intention recognition |
| CN114305989A (en) * | 2021-12-29 | 2022-04-12 | 钛虎机器人科技(上海)有限公司 | Exoskeleton assistance and lower limb rehabilitation integrated robot |
| CN115054492A (en) * | 2022-06-17 | 2022-09-16 | 天津大学 | Active-passive driving integrated ankle joint walking aid rehabilitation system |
| CN115054492B (en) * | 2022-06-17 | 2024-04-19 | 天津大学 | Ankle joint walking aid rehabilitation system integrating active and passive driving |
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