CN208591274U - A kind of intelligent medical robot for lower limb rehabilitation treatment - Google Patents
A kind of intelligent medical robot for lower limb rehabilitation treatment Download PDFInfo
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- CN208591274U CN208591274U CN201721086362.2U CN201721086362U CN208591274U CN 208591274 U CN208591274 U CN 208591274U CN 201721086362 U CN201721086362 U CN 201721086362U CN 208591274 U CN208591274 U CN 208591274U
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Abstract
The utility model provides a kind of intelligent medical robot for lower limb rehabilitation treatment, movement suspension system is installed on movement by column to pass above speed system, the patient for carrying out lower limb rehabilitation treatment carries out loss of weight by suspension system and position is kept, and passes under the drive of lower limb exoskeleton robot system in movement and walks upright on speed system；The gravity center shift that center of gravity self-balancing system connection between lower limb exoskeleton robot system and rotary system follows patient to walk adjusts the height of lower limb exoskeleton robot system；Sensing system acquires device parameter and human parameters, is transmitted to embedded control system and is shown.The utility model controls precision height, and intelligence is strong, can carry out upright walking rehabilitation training to patient.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of rehabilitation medical robots.
Background technique
It was shown according to 2011 " Chinese programs for the elderly statistical communique ", China 60 years old or more old man 1.85 hundred million, wherein 46,250,000
Osteoarthritis is serious, and it is badly off to be badly in need of the solution of walk help product.The estimation of Second National disabled population findings of the survey, disabled person are total
Number is 82,960,000, wherein physical disabilities 24,120,000, they need the help of power-assisted walk help product.There is Patients with Stroke 715 in China
Ten thousand, wherein a quarter needs to receive rehabilitation training, and anthropomorphic robot product help is needed to restore.Ectoskeleton technology and rehabilitation
Training combines, and the rehabilitation training of limbs is carried out using exoskeleton rehabilitation robot, can be controlled by " intelligence " of people
Exoskeleton robot drives the rehabilitation exercise of patient using " physical strength " of robot.This mode can not only be inherited at present
For rehabilitation modality used by the patients such as cerebral hemorrhage, headstroke, muscular atrophy, spinal cord injury and deterioration and method,
It is also possible to thoroughly solving the problems, such as these recovery training methods.
Current rehabilitation mostly uses manual therapeutic mode, and major defect includes the following aspects: 1) human cost
Height, and having differences property between different rehabilitation therapists；2) in therapeutic process and treatment end after it is more difficult using objective data into
Row evaluation；3) rehabilitation therapist does not have data supporting, can not to the patient of different phase using objective customizationization scheme into
Row optimization treatment；4) particularly with patient's early period, it is difficult to be walked upright, be unfavorable in the body of patient by manual type realization
Portion's circulation and acceleration rehabilitation.
Chinese patent CN2815338Y is a kind of supine lying posture lower limb rehabilitation training robot, using torque motor, gear-box
Etc. driving methods.Chinese invention patent CN101623547A is a kind of lower limb rehabilitation medical robot used for paralytic patient, the bottom of using
The mode of seat, rehabilitation leg training device, computer control system realizes sitting posture rehabilitation training.It is referred in publication at present
Recovery exercising robot in the presence of cannot restore person upright walking, and exist intelligence it is not strong the disadvantages of.Therefore further
Study it is a kind of there is adaptive control function, have with the intelligent medical robot of the combinations such as cloud platform, big data and virtual reality
It is significant.
Summary of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of intelligent medical machine for lower limb rehabilitation treatment
People, control precision is high, and intelligence is strong, can carry out upright walking rehabilitation training to patient.
The technical solution adopted by the present invention to solve the technical problems is: a kind of intelligent medical for lower limb rehabilitation treatment
Robot, including lower limb exoskeleton robot system, suspension system, movement biography speed system, rotary system, center of gravity self-balancing system
System, cloud platform display system, embedded control system and sensing system；
The movement suspension system is installed on movement by column and passes above speed system, carries out the trouble of lower limb rehabilitation treatment
Person carries out loss of weight by suspension system and position is kept, and passes in movement and walks upright on speed system；
The movement passes the upper surface of speed system according to the speed translation of setting；
The lower limb exoskeleton robot system is mounted on column by rotary system, can be rotated around column, when
When lower limb exoskeleton robot system is rotated to movement biography speed system, by patient's lower limb and lower limb exoskeleton robot system
It is attached fixation, drives patient's lower limb to be trained by lower limb exoskeleton robot system；
It is connected between the lower limb exoskeleton robot system and rotary system by center of gravity self-balancing system, follows trouble
Gravity center shift when person walks adjusts the height of lower limb exoskeleton robot system；
Sensing system acquisition lower limb exoskeleton robot system, the operating parameter of movement Chuan Su mechanism and the patient
Human parameters, be transmitted to embedded control system, and pass through the cloud platform display system and receive embedded control system
Display；
The embedded control system realizes that lower limb exoskeleton robot system, suspension system, movement pass speed system, rotation
Self adaptive control, Mode-switch and the intelligence for transfering from one department to another system, center of gravity self-balancing system, cloud platform display system and sensing system are high
Precision actuation, and information exchange is externally carried out by cloud platform.
The lower limb exoskeleton robot system includes hip joint horizontal boom beam, hip joint bearing, hip joint disc type
Motor, thigh structure, knee joint bearing, knee joint disc type electric machine and shank structure；The hip joint horizontal boom beam both ends
Thigh structure one end is connected by hip joint bearing respectively, and drives thigh structure around hip joint axis by hip joint disc type electric machine
It forwards dynamic；The other end of the thigh structure connects shank structure by knee joint bearing, and is driven by knee joint disc type electric machine
Dynamic shank structure is stayed with one's parents in order to make them happy oscillating bearing rotation.
The suspension system includes loss of weight motor, loss of weight spring, movable pulley mechanism and suspention motor；The loss of weight electricity
The affixed column of machine, loss of weight motor output end by loss of weight spring connection suspention motor, the loss of weight spring and suspention motor it
Between pass through movable pulley system converting motion direction；Bandage of the suspention motor lifting tying with patient.
It includes stepper motor and pedrail mechanism, the cylinder that stepper motor passes through pedrail mechanism that the movement, which passes speed system,
Axis drives pedrail mechanism to carry out rolling movement.
The rotary system using motor-driven form realize lower limb exoskeleton mechanism screw-in and back-out, screw in and
The extreme position of back-out is mounted on supersonic range finder and infrared sensor, and rotary system cuts off electricity after reaching the limit of position
Machine power supply.
The center of gravity self-balancing system includes upper cantilever beam, Analysis of A Cantilever Beam Under and spring mechanism；Parallel upper cantilever beam and
Analysis of A Cantilever Beam Under connects and composes four-bar mechanism between rotary system and lower limb exoskeleton robot system, and four-bar mechanism is under
It is connected between limb exoskeleton robot system by spring mechanism.
The embedded control system includes controller and cloud platform；The controller uses host computer-slave computer
Formula controller；Sensing system acquisition lower limb exoskeleton robot system, the operating parameter of movement Chuan Su mechanism and the trouble
The human parameters of person is transmitted to supervisory controller and carries out control operation；The supervisory controller is controlled by slave computer
Device carries out SERVO CONTROL to lower limb exoskeleton robot system and movement Chuan Su mechanism；Controller externally carries out letter by cloud platform
Breath interaction.
The sensing system includes absolute rotary encoder, current sensor, pressure sensor, displacement of the lines sensing
Device, close switch, eeg sensor, myoelectric sensor and heart rate, blood pressure, temperature sensor；The absolute type rotary coding
The hip joint and knee axis of device acquisition lower limb exoskeleton robot system hold rotational angle；The current sensor, pressure
Sensor acquires the electric current of hip joint and knee joint disc type electric machine, voltage signal respectively；The linear movement pick-up acquisition is outstanding
Hang the position signal of motor and loss of weight motor output end；The position signal close to switch acquisition rotary system；Described
Eeg sensor, myoelectric sensor acquire the motion intention signal of patient；Heart rate, blood pressure and the temperature sensor acquisition is suffered from
The basic physiological parameter of person.
The invention also includes handrail systems, are fixed on movement and pass speed system two sides.
The beneficial effects of the present invention are:
1) movement suspension system is installed on movement by column and passed above speed system by the present invention, carries out lower limb rehabilitation treatment
Patient loss of weight and position carried out by suspension system keep, pass speed in movement under the drive of lower limb exoskeleton robot system
It walks upright in system, carries out rehabilitation training；
2) present invention uses high-precision servo motor, can be improved the control precision of joint position；
3) present invention uses the double-core embedded type control system based on ARM and POWERPC, realizes the adaptive of different modalities
Control and high security control, intelligence are strong；
4) present invention realizes that embedded control system and IOT are assisted by using the cloud platform based on embedded control system
View interconnection, and the teledata based on cloud platform are monitored and controlled, and the maintainability and after-sale service quality of equipment is greatly improved,
Realize predictive maintenance.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the structural schematic diagram of center of gravity self-balancing system；
Fig. 3 is the composition block diagram of embedded control system；
In figure, 1- lower limb exoskeleton robot system；2- suspension system；3- movement passes speed system；4- rotary system；5- weight
Heart self-balancing system；6- embedded control system；7- sensing system.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples, and the present invention includes but are not limited to following implementations
Example.
The present invention provides a kind of intelligent medical robot for lower limb rehabilitation treatment, including lower limb exoskeleton robot system
System, suspension system, movement pass speed system, rotary system, center of gravity self-balancing system, cloud platform display system, handrail system, insertion
Formula control system and its sensing system；Wherein movement biography speed system is fixed on ground, and cloud platform display system is fixed on movement
The front carriage of speed system is passed, handrail system is fixed on movement and passes speed system two sides.The side that movement passes speed system passes through bottom
The form of welding is connect with column, and the structure that column internal mechanism and its top horizontal stretch out collectively constitutes suspension system.Rotation
The central axis of system is fixed on the outside of column, and U-shaped steel structure is used to pivot about with column, and the limit of rotary system is vertical
Column device is fixed on the other side that movement passes speed system.Center of gravity self-balancing system is fixed on the end of rotary system U-shaped steel structure,
Lower limb exoskeleton robot system is fixed on center of gravity self-balancing system end.Embedded control system is fixed in column, sensing
Device system is fixed on lower limb exoskeleton mechanism, movement Chuan Su mechanism and human body surface.
When the invention works, human body carries out loss of weight by the suspension system and position is kept, and stands upright on movement and passes speed
In system；Lower limb exoskeleton robot system is screwed in by rotary system, is screwed into the human body being fixed in suspension system,
And human body lower limbs and lower limb exoskeleton robot system are attached and are fixed；Lower limb exoskeleton robot system drives human body
When being trained, the adaptive variation for following gravity center of human body of center of gravity self-balancing system；Embedded control system realizes entire machine
Self adaptive control, Mode-switch and the intelligent high-precision actuation of device people, and realize the interaction with cloud platform and virtual reality ring
The interconnection in border.
The lower limb exoskeleton robot system includes hip joint horizontal boom beam, hip joint bearing, hip joint disc type
Motor, thigh structure, knee joint bearing, knee joint disc type electric machine and shank structure.Wherein hip joint bearing and hip joint disc type
Motor is connected to hip joint horizontal boom beam end, and thigh structure is connected to the hip joint bearing other end, the end of thigh structure
It is connected with knee joint bearing and knee joint disc type electric machine, shank structure is connected to the other end of knee joint bearing.Wherein thigh knot
Structure and shank structure are rod-like structure, and thigh structure length adjustable range is 43cm-53cm, shank structure length adjustable range
For 28cm-38cm, 0-90 ° of motion of knee joint range, using DC servo motor and is rolled by -45 ° -+55 ° of hip joint motion range
The form of ballscrew is driven.
The suspension system includes loss of weight motor, loss of weight spring, movable pulley mechanism, suspention motor.Wherein loss of weight motor
Positioned at column bottom, loss of weight motor is fixed by bolts mode with the upper end loss of weight spring and connect, loss of weight spring upper end and dynamic cunning
Wheel system connection, suspention motor are connected with the other end of movable pulley system.It is realized in the form of Double Motor Control to human body
Suspention function and different weight loss of weight function.
The movement passes speed system, it is characterised in that: includes stepper motor and pedrail mechanism, stepper motor passes through crawler belt
The cylindrical shaft of mechanism drives pedrail mechanism to carry out rolling movement.Its change speed control that can carry out 0-5km/h, velocity variations
Precision is 0.1km/h, and the movement velocity of real-time collaborative lower limb exoskeleton robot system, is controlled by embedded control system is unified
System.
The rotary system includes column internal bearings, U-shaped steel structure and spacing column structure.U-shaped steel structure and vertical
Column internal bearings are connected, and spacing column is located at the column agency other side.It uses motor-driven form to realize lower limb exoskeleton
The function that mechanism is screwed in and screwed out automatically.
The center of gravity self-balancing system includes upper cantilever beam, Analysis of A Cantilever Beam Under and spring mechanism.Upper cantilever beam and lower cantalever
It is connected between beam by spring mechanism.It uses passive gas spring system structure to design, and realizes gravity center of human body's variation range 10cm
Interior center of gravity self-balancing.
Double-core processing module of the embedded control system comprising ARM+POWERPC, power interface, cloud platform connect
Mouthful, movement passes speed system interface, sensor interface, brake switch interface, driver interface, test equipment interface.It uses ARM
The double-core processing system of+POWERPC realizes high safety, highly reliable robot system control function, and the transmission for passing through IoT
Agreement realizes the both-way communication with cloud platform and virtual reality device.
The sensor subsystem includes absolute rotary encoder needed for robot control system closed-loop control, electricity
Flow sensor, pressure sensor, linear movement pick-up and close switch, further include the brain fax sense of human body real-time parameter feedback
The sensors such as device, myoelectric sensor and heart rate, blood pressure, temperature.Wherein absolute rotary encoder, current sensor, pressure pass
Sensor is installed in the hip joint and knee joint bearing of lower limb exoskeleton robot system, acquires disc type electric machine signal；Displacement of the lines
Sensor is installed on suspention motor and loss of weight motor end, acquires its position signal；It is installed in spacing column, adopts close to switch
Collect rotary system position signal.In addition, eeg sensor, myoelectric sensor are installed on the outside of human body brain and skin of lower extremity, adopt
Collect human motion signal of intent；Heart rate, blood pressure and temperature sensor are installed on handrail system front end, acquisition basic human body physiological ginseng
Number.
The embodiment of the present invention includes lower limb exoskeleton robot system 1, suspension system 2, movement biography speed system 3, rotation
System 4, center of gravity self-balancing system 5, embedded control system 6 and sensing system 7.
In the lower limb exoskeleton robot system 1, thigh and shank structure use titanium alloy material, back-supported and
Lumbar support structure uses aluminum alloy materials, and is connect by steel construction fastener with center of gravity self-balancing system.Thigh leg length
Degree is adjusted and is adjusted by V-groove structure, degree of regulation 1cm.Thigh length adjusting range is 43cm-53cm, leg length
Degree adjustable range is 28cm-38cm, and 0-90 ° of motion of knee joint range, is watched using direct current by -45 ° -+55 ° of hip joint motion range
The form for taking motor and ball-screw is driven, and application absolute rotary encoder, current sensor, pressure sensor,
Torque sensor etc. realizes the position control of lower limb exoskeleton robot and the power control of different modalities.
2 main body of suspension system is fixed in column, is controlled motor comprising a suspension point, is passed through movable pulley system
The structure of system carries out the adjusting of suspention height, and in addition loss of weight motor realizes different people by the position control to a groups of springs
The adjusting of body loss of weight weight.
The movement passes speed system 3 and is controlled by embedded control system transmission instruction, can carry out the change of 0-5km/h
Speed control, velocity variations precision are 0.1km/h, and the movement velocity of real-time collaborative lower limb exoskeleton robot system.It is helped
Hand height and angle can be manually adjusted.
The rotary system 4 realizes the function that lower limb exoskeleton mechanism is screwed in and screwed out automatically using motor-driven form
Can, the extreme position for screwing in and screwing out is mounted on ultrasonic distance measurement and infrared sensor, automatically cuts off after reaching the limit of position
Control to motor.Extreme position after rotary system screws in is as shown in Figure 1.
The center of gravity self-balancing system 5 is designed using passive gas spring system structure, realizes gravity center of human body's variation range
Center of gravity self-balancing in 10cm, uses parallel―ordinal shift structure to connect with lower limb exoskeleton robot system 1, parallelogram
Structure end is connect with gas spring system, realizes floating up and down for self-balancing, structure is as shown in Figure 2.
The embedded control system 6 and sensing system 7 is the core for realizing intelligent medical robot.Referring to attached drawing
3, specific work process is as follows:
1, the host computer for carrying cloud platform is received to be instructed from cloud, synchronous with virtual reality interface progress real-time,
And it can independent control movement biography speed system.
2, carry that the host computer of cloud platform its core function is and the embedded controller of double redundancy ARM+POWERPC carries out
The instructions such as gait, speed, time are issued to embedded controller, and receive the implementation health shape of embedded controller by communication
The feedback such as state, is further forwarded to cloud platform virtual memory end.
Real time fail inspection is carried out by breakdown judge logic inside the embedded controller of 3, double redundancy ARM+POWERPC
It surveys, guarantees security of system and stability.And it is carried out according to the external feedbacks information such as sensor, brake switch, test equipment comprehensive
It closes, realizes the real-time optimal closed-loop control for passing speed variator and motor driver to movement.
4, driver directly controls motor, the embedded controller of primary recipient double redundancy ARM+POWERPC
PWM and enable signal, and by motor status Real-time Feedback to embedded controller.
Claims (9)
1. it is a kind of for lower limb rehabilitation treatment intelligent medical robot, including lower limb exoskeleton robot system, suspension system,
Movement passes speed system, rotary system, center of gravity self-balancing system, cloud platform display system, embedded control system and sensor system
System, it is characterised in that:
The suspension system is installed on movement by column and passes above speed system, and the patient for carrying out lower limb rehabilitation treatment passes through outstanding
Crane system carries out loss of weight and position is kept, and passes in movement and walks upright on speed system；
The movement passes the upper surface of speed system according to the speed translation of setting；
The lower limb exoskeleton robot system is mounted on column by rotary system, can be rotated around column, be worked as lower limb
When exoskeleton robot system is rotated to movement biography speed system, patient's lower limb and lower limb exoskeleton robot system are carried out
It is connected and fixed, drives patient's lower limb to be trained by lower limb exoskeleton robot system；
It is connected between the lower limb exoskeleton robot system and rotary system by center of gravity self-balancing system, follows patient's row
Gravity center shift when walking adjusts the height of lower limb exoskeleton robot system；
Sensing system acquisition lower limb exoskeleton robot system, the operating parameter of movement Chuan Su mechanism and the people of patient
Body parameter is transmitted to embedded control system, and is shown by the cloud platform display system；
The embedded control system realizes that lower limb exoskeleton robot system, suspension system, movement pass speed system, rotation system
System, the self adaptive control of center of gravity self-balancing system, cloud platform display system and sensing system, Mode-switch and intelligence high-precision
Actuation, and information exchange is externally carried out by cloud platform.
2. the intelligent medical robot according to claim 1 for lower limb rehabilitation treatment, it is characterised in that: under described
Limb exoskeleton robot system includes hip joint horizontal boom beam, hip joint bearing, hip joint disc type electric machine, thigh structure, knee
Oscillating bearing, knee joint disc type electric machine and shank structure；The hip joint horizontal boom beam both ends pass through hip joint axis respectively
Connection thigh structure one end is held, and drives thigh structure to rotate around hip joint bearing by hip joint disc type electric machine；The thigh
The other end of structure connects shank structure by knee joint bearing, and is stayed with one's parents in order to make them happy pass by knee joint disc type electric machine driving shank structure
Bearings rotation.
3. the intelligent medical robot according to claim 1 for lower limb rehabilitation treatment, it is characterised in that: described is outstanding
Crane system includes loss of weight motor, loss of weight spring, movable pulley mechanism and suspention motor；The affixed column of loss of weight motor, loss of weight
Motor output end passes through movable pulley system between the loss of weight spring and suspention motor by loss of weight spring connection suspention motor
Converting motion direction；Bandage of the suspention motor lifting tying with patient.
4. the intelligent medical robot according to claim 1 for lower limb rehabilitation treatment, it is characterised in that: the fortune
The dynamic speed system that passes includes stepper motor and pedrail mechanism, stepper motor by the cylindrical shaft of pedrail mechanism drive pedrail mechanism into
Row rolling movement.
5. the intelligent medical robot according to claim 1 for lower limb rehabilitation treatment, it is characterised in that: the rotation
Transfer from one department to another screw-in and back-out that system realizes lower limb exoskeleton mechanism using motor-driven form, the extreme position for screwing in and screwing out is equal
Supersonic range finder and infrared sensor are installed, rotary system reaches the limit of cutting motor power supply behind position.
6. the intelligent medical robot according to claim 1 for lower limb rehabilitation treatment, it is characterised in that: the weight
Heart self-balancing system includes upper cantilever beam, Analysis of A Cantilever Beam Under and spring mechanism；Parallel upper cantilever beam and Analysis of A Cantilever Beam Under is in rotation system
Four-bar mechanism, four-bar mechanism and lower limb exoskeleton robot system are connected and composed between system and lower limb exoskeleton robot system
It is connected between system by spring mechanism.
7. the intelligent medical robot according to claim 1 for lower limb rehabilitation treatment, it is characterised in that: described is embedding
Entering formula control system includes controller and cloud platform；The controller uses host computer-slave computer formula controller；The biography
The human parameters of sensor system acquisition lower limb exoskeleton robot system, the operating parameter for moving Chuan Su mechanism and patient, transmission
Control operation is carried out to supervisory controller；The supervisory controller passes through the next machine controller to lower limb exoskeleton machine
People's system and movement Chuan Su mechanism carry out SERVO CONTROL；Controller externally carries out information exchange by cloud platform.
8. the intelligent medical robot according to claim 1 for lower limb rehabilitation treatment, it is characterised in that: the biography
Sensor system includes absolute rotary encoder, current sensor, pressure sensor, linear movement pick-up, close switch, brain electricity
Sensor, myoelectric sensor and heart rate, blood pressure, temperature sensor；The absolute rotary encoder acquires lower limb exoskeleton
The hip joint and knee axis of robot system hold rotational angle；The current sensor, pressure sensor acquire hip respectively
The electric current of joint and knee joint disc type electric machine, voltage signal；The linear movement pick-up acquisition suspention motor and loss of weight motor
The position signal of output end；The position signal close to switch acquisition rotary system；The eeg sensor, myoelectricity pass
The motion intention signal of sensor acquisition patient；The basic physiological parameter of the heart rate, blood pressure and temperature sensor acquisition patient.
9. the intelligent medical robot according to claim 1 for lower limb rehabilitation treatment, it is characterised in that: further include helping
Hand system is fixed on movement and passes speed system two sides.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107374911A (en) * | 2017-08-29 | 2017-11-24 | 中航创世机器人（东莞）有限公司 | A kind of intelligent medical robot for lower limb rehabilitation treatment |
| CN109276413A (en) * | 2018-11-23 | 2019-01-29 | 佛山市盛隔建材有限公司 | A kind of robots for rehabilitation therapy |
| CN110353946A (en) * | 2019-08-01 | 2019-10-22 | 新乡医学院第一附属医院(河南省结核病医院) | A kind of leg training healing robot |
| CN112451309A (en) * | 2020-11-05 | 2021-03-09 | 海南医学院 | Intelligent medical robot for treating lower limbs |
| CN112891152A (en) * | 2020-12-02 | 2021-06-04 | 山东科技大学 | Double-freedom-degree backrest and active weight reduction rack suitable for rehabilitation exoskeleton |
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2017
- 2017-08-29 CN CN201721086362.2U patent/CN208591274U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107374911A (en) * | 2017-08-29 | 2017-11-24 | 中航创世机器人（东莞）有限公司 | A kind of intelligent medical robot for lower limb rehabilitation treatment |
| CN107374911B (en) * | 2017-08-29 | 2024-05-10 | 中航创世机器人(西安)有限公司 | Intelligent medical robot for lower limb rehabilitation |
| CN109276413A (en) * | 2018-11-23 | 2019-01-29 | 佛山市盛隔建材有限公司 | A kind of robots for rehabilitation therapy |
| CN110353946A (en) * | 2019-08-01 | 2019-10-22 | 新乡医学院第一附属医院(河南省结核病医院) | A kind of leg training healing robot |
| CN112451309A (en) * | 2020-11-05 | 2021-03-09 | 海南医学院 | Intelligent medical robot for treating lower limbs |
| CN112891152A (en) * | 2020-12-02 | 2021-06-04 | 山东科技大学 | Double-freedom-degree backrest and active weight reduction rack suitable for rehabilitation exoskeleton |
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