CN207341899U - A kind of Multifunctional rehabilitation exercise equipment - Google Patents
A kind of Multifunctional rehabilitation exercise equipment Download PDFInfo
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- CN207341899U CN207341899U CN201720259539.8U CN201720259539U CN207341899U CN 207341899 U CN207341899 U CN 207341899U CN 201720259539 U CN201720259539 U CN 201720259539U CN 207341899 U CN207341899 U CN 207341899U
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Abstract
The utility model discloses a kind of Multifunctional rehabilitation exercise equipment-, including exoskeleton device and wheelchair device, exoskeleton device, which can be placed on wheelchair, also departs from wheelchair exclusive use, exoskeleton device includes foot supports plate, shin support panel, thigh support plate and lumbar support plate, the rear portion of foot supports plate is hinged by the lower end of ankle arthrosis and shin support panel, the upper end of shin support panel and the lower end of thigh support plate are hinged, the upper end of thigh support plate is hinged by hip joint and lumbar support plate, the leg fixing piece for leg to be fixed is installed with thigh support plate and shin support panel respectively.The lower limb rehabilitation training system that wheelchair technology and ectoskeleton technology are combined together by this practicality, aids in user's exercise by the detachable wearing ectoskeleton on wheelchair, promotes neurological to recover；Exoskeleton device is equipped with position-limit mechanism, knee and hip can be carried out spacing.
Description
Technical field
Exoskeleton mechanism and wheelchair field are the utility model is related to, concretely relates to a kind of Multifunctional rehabilitation exercise device
Material.
Background technology
With the development of science and technology, more and more people can survive after a stroke, but it is residual among these patients at the same time
Corresponding sequelae is left, and it is human motion dysfunction to have quite a few among these.If it can treat in time
Effective rehabilitation is obtained, but due to lacking necessary knowledge of rehabilitation and rehabilitation equipment, patient may permanent loss sensation and movement
Function.
Current many research institutions start to study lower limb rehabilitation device.But traditional athletic rehabilitation using therapist as
Center, inevitably there are many drawbacks.As the development of modern machines people technology is increasingly mature, robot technology is providing length
Phase stable motion inputs, and is had obvious benefits compared to traditional rehabilitation training tool.Robot assisted exercise rehabilitation training is compared
It is in the meaning of Traditional Rehabilitation training, treatment personnel can be not only liberated from the one-to-one heavy therapeutic process of doctor patient
Out, and by inputting quantitative exercise, more good rehabilitation training plans are provided for patient, improve tool in terms of training effect
There are huge potentiality and superiority, and platform can be provided for the research of athletic rehabilitation mechanism.
Domestic and international medical rehabilitation class ectoskeleton technology is not yet realized to be combined with wheelchair, and cannot balance body weight and
Center.
Utility model content
The purpose of this utility model is that provide a kind of Multifunctional rehabilitation exercise to solve problems of the prior art
Equipment, the rehabilitation training equipment are equipped with position-limit mechanism, can be spacing to knee and hip progress, prevent user from falling down, can
User's exercise is aided in, promotes neurological to recover.
To achieve the above object, technical solution is used by the utility model：A kind of Multifunctional rehabilitation exercise equipment, bag
Exoskeleton device is included, the exoskeleton device includes foot supports plate, shin support panel, thigh support plate and lumbar support plate,
The rear portion of the foot supports plate is hinged by the lower end of ankle arthrosis and shin support panel, the upper end of shin support panel and thigh
The lower end of support plate is hinged, and the upper end of thigh support plate is hinged by hip joint and lumbar support plate, thigh support plate and shank
The leg fixing piece for leg to be fixed is installed with support plate respectively；
A spacing adjustable plate is provided with the outside of the top of the shin support panel and one drives it by driving motor
The master bevel gear of rotation, driving motor be fixedly mounted on spacing adjustable plate, be engaged with master bevel gear the first driven gear and
Second driven gear, the second driven gear fix the one end for being set in a connecting shaft A；The other end of connecting shaft A passes through shank
It is connected after support plate by bearing with the lower part of thigh support plate, connecting shaft A is fixedly connected with shin support panel；First driven tooth
Make a turn the one end for being sleeved on a connecting shaft B, spacing adjustable plate empty set connecting shaft B the other end, the top of spacing adjustable plate
Both sides are outward extended with first abutting stem respectively, and multiple first limit holes, thigh branch are uniformly provided with the first abutting stem
The both sides of fagging lower part are symmetrically extended out second abutting stem, are offered on the second abutting stem and the first limit hole corresponding number
The second limit hole, gag lever post is equipped with corresponding first limit hole and the second limit hole, the upper end of spacing adjustable plate is also
It is fixedly connected by a fixed link with the lower part of thigh support plate；The both sides on the top of shin support panel are uniformly provided with respectively
Multiple limiting grooves, in the state of driving motor drives the second driven gear to rotate, the second driven gear drives leg support
Plate rotates backward, so that the movement progress that gag lever post is fastened in the limiting groove to shin support panel is spacing.
Further, a spacing adjustable plate is provided with the outside of the top of the thigh support plate and one electric by driving
Machine drive its rotate master bevel gear, driving motor be fixedly mounted on spacing adjustable plate, be engaged with master bevel gear first from
Moving gear and the second driven gear, the second driven gear fix the one end for being set in a connecting shaft A；The other end of connecting shaft A
Connected after through hip joint by the lower part of bearing and hip joint, connecting shaft A is fixedly connected with hip joint；First driven tooth makes a turn
One end of a connecting shaft B is sleeved on, spacing adjustable plate empty set is in the other end of connecting shaft B, the both sides on the top of spacing adjustable plate
First abutting stem is outward extended with respectively, and multiple first limit holes, hip joint lower part are uniformly provided with the first abutting stem
Both sides be symmetrically extended out second abutting stem, offered on the second abutting stem and the second of the first limit hole corresponding number the limit
Position hole, is equipped with gag lever post, the upper end of spacing adjustable plate also passes through one in corresponding first limit hole and the second limit hole
Fixed link is fixedly connected with the lower part of hip joint；The both sides on the top of thigh support plate are uniformly provided with multiple spacing recessed respectively
Groove, in the state of driving motor drives the second driven gear to rotate, the second driven gear drives thigh support plate to rotate backward,
So that the movement progress that gag lever post is fastened in the limiting groove to thigh support plate is spacing.
Further, the exoskeleton device further includes gait detecting system, the gait detecting system include controller,
The obliquity sensor at gyro sensor, knee joint, the pressure sensor of foot arranged on waist；Gyro sensor,
The movable information of reception is sent to master reference and the state contrasted with normal attitude by obliquity sensor and pressure sensor
Under, control driving motor to be adjusted by controller.
Further, the leg fixing piece structure includes being detachably arranged at thigh bandage on thigh support plate and removable
Unload the shank bandage being arranged on shin support panel.
Further, detachably it is provided with foot fixed plate on the foot supports plate.
Further, the lumbar support plate includes the first lumbar support plate, the second lumbar support plate and connecting plate, and first
Slot hole is offered on lumbar support plate and the second lumbar support plate, circular hole is offered on connecting plate, is adjusting the first waist branch
In the state of fagging and the second lumbar support plate to required length, by the way that connecting plate is adjacent to the first lumbar support plate and passes through spiral shell
Bolt penetrates the first lumbar support plate and the second waist branch after connecting plate, the first lumbar support plate and the second lumbar support plate successively
It is fixed between fagging.
Further, which further includes the wheelchair device that can be used for installing exoskeleton device, wheelchair dress
Put the card slot including taking the shape of the letter U and be installed in criss-cross fixture block, exoskeleton device by card slot and fixture block on wheelchair device.
Further, the shin support panel includes the second shin support panel and internal the first shank branch in hollow structure
Fagging, is uniformly provided with multiple slot holes on the first shin support panel, the lower part of the second shin support panel opens up along its length
There is circular hole, the lower part of the second shin support panel is set in the first shin support panel, by the way that bolt is penetrated circular hole and different
To adjust the length of shin support panel and fix the position between the first shin support panel and the second shin support panel in slot hole, the
The lower part of one shin support panel is hinged with ankle arthrosis.
Further, the thigh support plate includes the second thigh support plate and internal the first thigh branch in hollow structure
Fagging, offers a slot hole on the first thigh support plate, the lower part of the second thigh support plate is vertically uniformly provided with
Multiple circular holes, the lower part of the second thigh support plate is set in the first thigh support plate, by the way that bolt is penetrated slot hole and second
To adjust the length of thigh support plate and fix the first thigh support plate and second largest in different circular holes on thigh support plate
Position between leg support plate.
Compared with prior art, the beneficial effects of the utility model are：
1st, the utility model is a lower limb rehabilitation training system for being combined together wheelchair technology and ectoskeleton technology,
User's exercise is aided in by the detachable wearing ectoskeleton on wheelchair, promotes neurological to recover；Ectoskeleton
Device is equipped with position-limit mechanism, knee and hip can be carried out spacing；
2nd, the utility model may be worn on outside operator's body, can provide protection, body-support and synkinesia etc.
Function, is the trial of intelligent medical wearable device；
3rd, the utility model is by various kinds of sensors structure gait detecting system, makes the physiology situation information of patient and outer
Bone equipment operation condition can be with Real-time Feedback.
Brief description of the drawings
Fig. 1 is the structure diagram of exoskeleton device.
Fig. 2 is the local location enlarged diagram at the A of Fig. 1.
Fig. 3 is the structure diagram of wheelchair device.
Fig. 4 is the structure diagram after exoskeleton device is combined with wheelchair device.
Fig. 5 is the FB(flow block) of gait detecting system.
Marked in figure：1st, foot supports plate, 2, ankle arthrosis, 3, shin support panel, the 301, first shin support panel, 302,
Second shin support panel, 302-a, limiting groove, 4, master bevel gear, 5, thigh support plate, the 501, first thigh support plate, 501-
A, the second abutting stem, the 502, second thigh support plate, the 6, first driven gear, 7, hip joint, 8, lumbar support plate, 9, thigh ties up
Band, 10, gag lever post, 11, driving motor, 12, fixed link, 13, spacing adjustable plate, the 1311, first abutting stem, 1311-a, first
Limit hole, the 14, second driven gear, 1501, fixture block, 1502, card slot, 1503, handrail, 1504, backrest, 1505, remote control,
1506th, seat board, 1507, supporting rack.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment the utility model is described in further detail.
A kind of Multifunctional rehabilitation exercise equipment as shown in the figure, including exoskeleton device, exoskeleton device include foot supports
Plate 1, shin support panel 3, thigh support plate 5 and lumbar support plate 8, the rear portion of foot supports plate 1 pass through ankle arthrosis 2 and shank
The lower end of support plate 3 is hinged, and the upper end and the lower end of thigh support plate 5 of shin support panel 3 are hinged, the upper end of thigh support plate 5
It is hinged by hip joint 7 and lumbar support plate 8, be installed with respectively on thigh support plate 5 and shin support panel 3 for leg into
The fixed leg fixing piece of row, leg fixing piece structure include the thigh bandage 9 being detachably arranged on thigh support plate 5 and removable
Unload the shank bandage being arranged on shin support panel 3.Foot fixed plate 102 is detachably provided with foot supports plate 1.
A spacing adjustable plate 13 is provided with the outside of the top of shin support panel 3 and one drives it by driving motor 11
The master bevel gear 4 of rotation, driving motor 11 are fixedly mounted on spacing adjustable plate 13, and it is driven to be engaged with first on master bevel gear 4
6 and second driven gear 14 of gear, the second driven gear 14 fix the one end for being set in a connecting shaft A；Connecting shaft A's is another
It is connected after holding through shin support panel 3 by bearing with the lower part of thigh support plate 5, connecting shaft A is fixed with shin support panel 3 to be connected
Connect；First driven gear empty set in one end of a connecting shaft B, spacing 13 empty set of adjustable plate connecting shaft B the other end, it is spacing
The both sides on the top of adjustable plate 13 are outward extended with first abutting stem 1311 respectively, are uniformly opened up on the first abutting stem 1311
There are multiple first limit hole 1311-a, the both sides of 5 lower part of thigh support plate are symmetrically extended out a second abutting stem 501-a, the
The second limit hole with the first limit hole 1311-a corresponding numbers is offered on two abutting stem 501-a, it is spacing corresponding first
Be equipped with gag lever post 10 in hole 1311-a and the second limit hole, the upper end of spacing adjustable plate 13 also by a fixed link 12 with it is big
The lower part of leg support plate 5 is fixedly connected；The both sides on the top of shin support panel 3 are uniformly provided with multiple limiting groove 302- respectively
A, driving motor 11 drive the second driven gear 14 rotate in the state of, the second driven gear 14 drive shin support panel 3 to
After rotate so that the movement that gag lever post 10 is fastened in the limiting groove 302-a to shin support panel 3 carry out it is spacing.
A spacing adjustable plate is provided with the outside of the top of thigh support plate 5 and one drives its rotation by driving motor
Master bevel gear, driving motor be fixedly mounted on spacing adjustable plate, the first driven gear and second are engaged with master bevel gear
Driven gear, the second driven gear fix the one end for being set in a connecting shaft A；After the other end of connecting shaft A passes through hip joint 7
It is connected by bearing with the lower part of hip joint 7, connecting shaft A is fixedly connected with hip joint 7；First driven gear empty set is in a company
One end of spindle B, spacing adjustable plate empty set is in the other end of connecting shaft B, and the both sides on the top of spacing adjustable plate are respectively to extension
Stretching has first abutting stem, and multiple first limit holes are uniformly provided with the first abutting stem, and the both sides of 7 lower part of hip joint are symmetrical
Extend second abutting stem, the second limit hole with the first limit hole corresponding number is offered on the second abutting stem, right
Gag lever post is equipped with the first limit hole and the second limit hole answered, the upper end of spacing adjustable plate also passes through a fixed link and hip
The lower part in joint 7 is fixedly connected；The both sides on the top of thigh support plate 5 are uniformly provided with multiple limiting grooves respectively, are driving
In the state of motor 11 drives the rotation of the second driven gear, the second driven gear drives thigh support plate 5 to rotate backward, so that
The movement that gag lever post is fastened in the limiting groove to thigh support plate 5 carries out spacing.
Exoskeleton device further includes gait detecting system, and the gait detecting system includes controller, the top arranged on waist
Obliquity sensor, the pressure sensor of foot at spiral shell instrument sensor, knee joint；Gyro sensor, obliquity sensor and
In the state of the movable information of reception is sent to master reference and is contrasted with normal attitude by pressure sensor, pass through controller
Control driving motor is adjusted.
The pressure sensor of foot is made of each eight sensors in two groups of left and right, is respectively ossa suffraginis region, other toes
Bone region, the first toe plantar joint area, two three-toed plantar joint areas, four or five toe plantar joint areas, sole inside region, outside sole
Side region, calcaneus region.
Lumbar support plate 9 includes the first lumbar support plate, the second lumbar support plate and connecting plate, the first lumbar support plate and
Slot hole is offered on second lumbar support plate, circular hole is offered on connecting plate, is adjusting the first lumbar support plate and the second waist
In the state of portion's support plate to required length, by the way that connecting plate is adjacent to the first lumbar support plate and by the bolt successively company of penetrating
Will be solid between the first lumbar support plate and the second lumbar support plate after fishplate bar, the first lumbar support plate and the second lumbar support plate
It is fixed.
The rehabilitation training equipment further includes the wheelchair device that can be used for detachable installation exoskeleton device, wheelchair device bag
Include the card slot 1502 to take the shape of the letter U and be installed in criss-cross fixture block 1501, exoskeleton device by card slot 1502 and fixture block 1501
On wheelchair device.Wheelchair device further includes backrest 1504, the handrail 1503 of both sides, remote control 1505, seat board 1506 and support
Frame 1507, supporting rack 1507 are used for supporting seat board 1506, and the height of seat board 1506 can be adjusted by adjusting supporting rack 1507.
Ectoskeleton body can be placed on the inside of wheel chair handle, can also depart from wheelchair exclusive use.
Shin support panel 3 includes the second shin support panel 302 and internal the first shin support panel 301 in hollow structure,
Multiple slot holes are uniformly provided with first shin support panel 301 along its length, the lower part of the second shin support panel 302 opens up
Have circular hole, the lower part of the second shin support panel 302 is set in the first shin support panel 301, by by bolt penetrate circular hole and
To adjust the length of shin support panel 3 and fix the first shin support panel 301 and the second shin support panel 302 in different slot holes
Between position, the lower part of the first shin support panel 301 is hinged with ankle arthrosis 2.
Thigh support plate 5 includes the second thigh support plate 502 and internal the first thigh support plate 501 in hollow structure,
A slot hole is offered on first thigh support plate 501, the lower part of the second thigh support plate 502 is vertically uniformly provided with
Multiple circular holes, the lower part of the second thigh support plate 502 is set in the first thigh support plate 501, by the way that bolt is penetrated slot hole
With in the different circular holes in the second thigh support plate 502 to adjust the length of thigh support plate 5 and fix the first thigh support
Position between 501 and second thigh support plate 502 of plate.
The position-limit mechanism adjusting angle of hip is 21 ° to the left, 27 ° to the right on the basis of plumb line, the position restrainer of knee
Structure adjusts angle as 71 ° to the left, to the right 71 ° on the basis of plumb line.
Leg size adjusting mechanism adjustable extent is 0~70cm, and waist sizes adjustable mechanism adjustable extent is 0~30cm.
By being equipped with torsional spring respectively in waist both sides in the position-limit mechanism of hip and knee, realize to the interior receipts of hip joint and
Arms sideward lift carries out spacing.
Claims (9)
1. a kind of Multifunctional rehabilitation exercise equipment, including exoskeleton device, the exoskeleton device includes foot supports plate（1）、
Shin support panel（3）, thigh support plate（5）With lumbar support plate（8）, the foot supports plate（1）Rear portion closed by ankle
Section（2）With shin support panel（3）Lower end be hinged, shin support panel（3）Upper end and thigh support plate（5）Lower end be hinged,
Thigh support plate（5）Upper end pass through hip joint（7）With lumbar support plate（8）It is hinged, thigh support plate（5）And shin support panel
（3）The upper leg fixing piece being installed with respectively for leg to be fixed, it is characterised in that：
The shin support panel（3）Top on the outside of be provided with a spacing adjustable plate（13）With one by driving motor（11）
The master bevel gear for driving it to rotate（4）, drive motor（11）It is fixedly mounted on spacing adjustable plate（13）On, master bevel gear（4）On
It is engaged with the first driven gear（6）With the second driven gear（14）, the second driven gear（14）Fixation is set in a connecting shaft A
One end；The other end of connecting shaft A passes through shin support panel（3）Pass through bearing and thigh support plate afterwards（5）Lower part connection, even
Spindle A and shin support panel（3）It is fixedly connected；First driven gear（6）Empty set is in one end of a connecting shaft B, spacing adjusting
Plate（13）Empty set is in the other end of connecting shaft B, spacing adjustable plate（13）The both sides on top be outward extended with one first respectively
Abutting stem（1311）, the first abutting stem（1311）On be uniformly provided with multiple first limit holes（1311-a）, thigh support plate（5）
The both sides of lower part are symmetrically extended out second abutting stem（501-a）, the second abutting stem（501-a）On offer with it is first spacing
Hole（1311-a）Second limit hole of corresponding number, in corresponding first limit hole（1311-a）It is equipped with the second limit hole
Gag lever post（10）, spacing adjustable plate（13）Upper end also pass through a fixed link (12) and thigh support plate（5）Lower part fix
Connection；Shin support panel（3）The both sides on top be uniformly provided with multiple limiting grooves respectively（302-a）, in driving motor
（11）Drive the second driven gear（14）In the state of rotation, the second driven gear（14）Drive shin support panel（3）Turn round
It is dynamic, so that gag lever post (10) is fastened on the limiting groove（302-a）It is interior to shin support panel（3）Movement carry out it is spacing.
A kind of 2. Multifunctional rehabilitation exercise equipment according to claim 1, it is characterised in that：
The thigh support plate（5）Top on the outside of be provided with a spacing adjustable plate and one drives its turn by driving motor
Dynamic master bevel gear, driving motor are fixedly mounted on spacing adjustable plate, and the first driven gear and the are engaged with master bevel gear
Two driven gears, the second driven gear fix the one end for being set in a connecting shaft A；The other end of connecting shaft A passes through hip joint
（7）Pass through bearing and hip joint afterwards（7）Lower part connection, connecting shaft A and hip joint（7）It is fixedly connected；First driven tooth makes a turn
One end of a connecting shaft B is sleeved on, spacing adjustable plate empty set is in the other end of connecting shaft B, the both sides on the top of spacing adjustable plate
First abutting stem is outward extended with respectively, and multiple first limit holes, hip joint are uniformly provided with the first abutting stem（7）Under
The both sides in portion are symmetrically extended out second abutting stem, and second with the first limit hole corresponding number is offered on the second abutting stem
Limit hole, is equipped with gag lever post in corresponding first limit hole and the second limit hole, and the upper end of spacing adjustable plate also passes through one
A fixed link and hip joint（7）Lower part be fixedly connected；Thigh support plate（5）Top both sides be uniformly provided with respectively it is multiple
Limiting groove, in driving motor（11）In the state of driving the rotation of the second driven gear, the second driven gear drives thigh support
Plate（5）Rotate backward, so that gag lever post is fastened in the limiting groove to thigh support plate（5）Movement carry out it is spacing.
A kind of 3. Multifunctional rehabilitation exercise equipment according to claim 1, it is characterised in that：The exoskeleton device is also wrapped
Gait detecting system is included, the gait detecting system includes controller, the gyro sensor arranged on waist, inclining at knee joint
The pressure sensor of angle transducer, foot；The movement of reception is believed in gyro sensor, obliquity sensor and pressure sensor
In the state of breath is sent to master reference and is contrasted with normal attitude, driving motor is controlled to be adjusted by controller.
A kind of 4. Multifunctional rehabilitation exercise equipment according to claim 1, it is characterised in that：The leg fixing piece structure bag
Include and be detachably arranged at thigh support plate（5）On thigh bandage（9）Be detachably arranged at shin support panel（3）On shank
Bandage.
A kind of 5. Multifunctional rehabilitation exercise equipment according to claim 1, it is characterised in that：The foot supports plate（1）
On be detachably provided with foot fixed plate（102）.
A kind of 6. Multifunctional rehabilitation exercise equipment according to claim 1, it is characterised in that：The lumbar support plate（8）
Including the first lumbar support plate, the second lumbar support plate and connecting plate, on the first lumbar support plate and the second lumbar support plate
Slot hole is offered, circular hole is offered on connecting plate, is adjusting the first lumbar support plate and the second lumbar support plate to required length
In the state of, by the way that connecting plate is adjacent to the first lumbar support plate and penetrates connecting plate, the first lumbar support successively by bolt
Will be fixed between the first lumbar support plate and the second lumbar support plate after plate and the second lumbar support plate.
A kind of 7. Multifunctional rehabilitation exercise equipment according to claim 1, it is characterised in that：The rehabilitation training equipment also wraps
The wheelchair device that can be used for installing exoskeleton device is included, wheelchair device includes the card slot to take the shape of the letter U（1502）With in criss-cross
Fixture block（1501）, exoskeleton device passes through card slot（1502）And fixture block（1501）It is installed on wheelchair device.
A kind of 8. Multifunctional rehabilitation exercise equipment according to claim 1, it is characterised in that：The shin support panel（3）
Including the second shin support panel（302）With internal the first shin support panel in hollow structure（301）, the first shin support panel
（301）On be uniformly provided with multiple slot holes, the second shin support panel along its length（302）Lower part offer circular hole,
Two shin support panels（302）Lower part be set in the first shin support panel（301）It is interior, by the way that bolt is penetrated circular hole and different
To adjust shin support panel in slot hole（3）Length and fix the first shin support panel（301）With the second shin support panel（302）
Between position, the first shin support panel（301）Lower part and ankle arthrosis（2）It is hinged.
A kind of 9. Multifunctional rehabilitation exercise equipment according to claim 1, it is characterised in that：The thigh support plate（5）
Including the second thigh support plate（502）With internal the first thigh support plate in hollow structure（501）, the first thigh support plate
（501）On offer a slot hole, the second thigh support plate（502）Lower part be vertically uniformly provided with multiple circular holes,
Second thigh support plate（502）Lower part be set in the first thigh support plate（501）It is interior, by the way that bolt is penetrated slot hole and second
Thigh support plate（502）On different circular holes in adjust thigh support plate（5）Length and fix the first thigh support plate
（501）With the second thigh support plate（502）Between position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720259539.8U CN207341899U (en) | 2017-03-17 | 2017-03-17 | A kind of Multifunctional rehabilitation exercise equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720259539.8U CN207341899U (en) | 2017-03-17 | 2017-03-17 | A kind of Multifunctional rehabilitation exercise equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207341899U true CN207341899U (en) | 2018-05-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720259539.8U Expired - Fee Related CN207341899U (en) | 2017-03-17 | 2017-03-17 | A kind of Multifunctional rehabilitation exercise equipment |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108836655A (en) * | 2018-07-06 | 2018-11-20 | 杭州光启医疗科技发展有限公司 | A kind of orthopaedics patient safe wheelchair with nursing role |
| CN109793562A (en) * | 2019-01-23 | 2019-05-24 | 贾韩静 | A kind of fracture fixation support frame of convenient disassembly |
| CN110353943A (en) * | 2019-07-30 | 2019-10-22 | 烟台科宇机器人科技有限公司 | A kind of exoskeleton robot |
| CN111840009A (en) * | 2020-07-22 | 2020-10-30 | 陈涛 | Leg rehabilitation treatment device with protection function and using method thereof |
| CN112370305A (en) * | 2020-11-11 | 2021-02-19 | 深圳市迈步机器人科技有限公司 | Exoskeleton robot for lower limb rehabilitation training and control method thereof |
| CN113413575A (en) * | 2021-06-15 | 2021-09-21 | 青岛大学附属医院 | Spacing rehabilitation training device of hip joint replacement postoperative |
| CN113876548A (en) * | 2021-10-09 | 2022-01-04 | 兴安界首骨伤医院有限公司 | Rehabilitation training exoskeleton and using method thereof |
| CN114344835A (en) * | 2022-01-26 | 2022-04-15 | 北京大学第三医院（北京大学第三临床医学院） | Quadriceps femoris exerciser |
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2017
- 2017-03-17 CN CN201720259539.8U patent/CN207341899U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108836655A (en) * | 2018-07-06 | 2018-11-20 | 杭州光启医疗科技发展有限公司 | A kind of orthopaedics patient safe wheelchair with nursing role |
| CN109793562A (en) * | 2019-01-23 | 2019-05-24 | 贾韩静 | A kind of fracture fixation support frame of convenient disassembly |
| CN109793562B (en) * | 2019-01-23 | 2020-06-16 | 胡将碟 | Dismantle convenient fracture fixation support frame |
| CN110353943B (en) * | 2019-07-30 | 2021-11-09 | 烟台科宇机器人科技有限公司 | Exoskeleton robot |
| CN110353943A (en) * | 2019-07-30 | 2019-10-22 | 烟台科宇机器人科技有限公司 | A kind of exoskeleton robot |
| CN111840009A (en) * | 2020-07-22 | 2020-10-30 | 陈涛 | Leg rehabilitation treatment device with protection function and using method thereof |
| CN112370305A (en) * | 2020-11-11 | 2021-02-19 | 深圳市迈步机器人科技有限公司 | Exoskeleton robot for lower limb rehabilitation training and control method thereof |
| CN113413575A (en) * | 2021-06-15 | 2021-09-21 | 青岛大学附属医院 | Spacing rehabilitation training device of hip joint replacement postoperative |
| CN113413575B (en) * | 2021-06-15 | 2022-03-01 | 青岛大学附属医院 | Spacing rehabilitation training device of hip joint replacement postoperative |
| CN113876548A (en) * | 2021-10-09 | 2022-01-04 | 兴安界首骨伤医院有限公司 | Rehabilitation training exoskeleton and using method thereof |
| CN113876548B (en) * | 2021-10-09 | 2024-03-29 | 兴安界首骨伤医院有限公司 | Exoskeleton for rehabilitation training and application method thereof |
| CN114344835A (en) * | 2022-01-26 | 2022-04-15 | 北京大学第三医院（北京大学第三临床医学院） | Quadriceps femoris exerciser |
| CN114344835B (en) * | 2022-01-26 | 2022-10-28 | 北京大学第三医院（北京大学第三临床医学院） | Quadriceps femoris exerciser |
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