CN209332639U - It is a kind of can anthropomorphic gait double freedom device for healing and training - Google Patents
It is a kind of can anthropomorphic gait double freedom device for healing and training Download PDFInfo
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- CN209332639U CN209332639U CN201822150739.7U CN201822150739U CN209332639U CN 209332639 U CN209332639 U CN 209332639U CN 201822150739 U CN201822150739 U CN 201822150739U CN 209332639 U CN209332639 U CN 209332639U
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- 238000012549 training Methods 0.000 title claims abstract description 38
- 230000005021 gait Effects 0.000 title claims abstract description 25
- 230000035876 healing Effects 0.000 title claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 48
- 230000033001 locomotion Effects 0.000 claims abstract description 31
- 238000009434 installation Methods 0.000 claims description 68
- 230000017260 vegetative to reproductive phase transition of meristem Effects 0.000 claims description 6
- 230000008859 change Effects 0.000 abstract description 9
- 210000003141 lower extremity Anatomy 0.000 abstract description 8
- 230000000694 effects Effects 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 12
- 210000003414 extremity Anatomy 0.000 description 5
- 238000005096 rolling process Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000004088 simulation Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 241000237858 Gastropoda Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model discloses it is a kind of can anthropomorphic gait double freedom device for healing and training, the movement mechanism being symmetricly set on including supporting mechanism and two pairs on the supporting mechanism；The movement mechanism includes the ring gear with internal tooth being rotatably installed on the supporting mechanism, the planet carrier being rotatably installed on the supporting mechanism and the planetary gear with external tooth being rotatably installed on the planet carrier, and the rotation axis of the ring gear and the rotation axis of the planet carrier are conllinear, the internal tooth of the planetary gear and the ring gear is intermeshed.The utility model can be such that device for healing and training is moved in plane of movement in arbitrary trajectory, change the single training mode of circular motion track, pass through different eccentric position B, pass through the length velocity relation of change planetary gear and ring gear again, to change the motion profile of output block, to achieve the effect that simulate human body lower limbs normal gait track, the training effect of user is substantially increased.
Description
Technical field
The utility model relates to rehabilitation training equipment, relate in particular to it is a kind of can anthropomorphic gait double freedom rehabilitation instruction
Practice device.
Background technique
Currently, the quantity of domestic hemiplegic patient is increasing, limb rehabilitation training also becomes research hotspot.It is general on the market
Motion profile all over existing lower limb rehabilitation training device is the single Circular test of mode, and the gait track of human body is one
Elliptical shape, therefore the rehabilitation training requirement that single Circular test movement is not able to satisfy patient is only done, it greatly reduces
The rehabilitation training effect of patient's lower limb.
Therefore, develop one kind can anthropomorphic gait rehabilitation training device it is particularly important.
Utility model content
The technical problem to be solved by the utility model is to provide it is a kind of can anthropomorphic gait double freedom rehabilitation training dress
It sets.
In order to solve the above-mentioned technical problem, the utility model adopts the following technical solution: it is a kind of can anthropomorphic gait it is double from
By degree device for healing and training, including supporting mechanism and the movement mechanism being arranged on the supporting mechanism；
The movement mechanism includes the ring gear with internal tooth being rotatably installed on the supporting mechanism, rotational installation
In the planet carrier on the supporting mechanism and the planetary gear with external tooth being rotatably installed on the planet carrier, and it is described
The rotation axis of ring gear and the rotation axis of the planet carrier are conllinear, and the internal tooth of the planetary gear and the ring gear is mutual
Engagement.
It further, further include the sun gear with external tooth being rotatably installed on the supporting mechanism, the sun
The rotation axis of gear and the rotation axis of the ring gear are conllinear, and the planetary gear and the sun gear are intermeshed.
Further, the supporting mechanism includes support frame, and the first installation axle is rotatably equipped on support frame as described above, described
Sun gear is rotatably installed in first installation axle, and the planet carrier is fixedly mounted in first installation axle, or
The sun gear is fixedly mounted in first installation axle, and the planet carrier is rotatably installed in first installation axle.
Further, support frame as described above includes two pieces of support plates for being spaced apart from each other arrangement, and the top of the support plate is fixed
First bearing seat is installed, first installation axle is rotatably installed in the first bearing seat by bearing.
Further, belt wheel or sprocket wheel or gear are fixedly installed in first installation axle indirectly to described
One installation axle is driven, or directly carries out driving first installation axle by the motor containing deceleration device.
Further, the ring gear with flowering structure by being rotatably installed on the supporting mechanism: the annular tooth
The one side of wheel is equipped with the ring-shaped guide rail of coaxial line, is fixed with supporting block on the supporting mechanism, opens in the supporting block
There is the guide groove matched with the ring-shaped guide rail, the ring-shaped guide rail is caught in the guide groove.
It further, further include worm screw, the ring gear also has external tooth, and the worm screw is outer with the ring gear
Tooth intermeshing.
Further, the second installation axle is rotatably equipped on the planet carrier, the planetary gear is fixedly mounted on described
In second installation axle, realize that the planetary gear rotation is mounted on the planet carrier with this.
It further, further include movement output mechanism, the movement output mechanism includes crank, output shaft and second bearing
Seat, one end of the crank are fixedly mounted in second installation axle, and the output shaft is fixedly mounted on the another of the crank
One end, the second bearing seat are rotatably installed on the output shaft by bearing.
Further, the output shaft is by being fixedly mounted on the other end of the crank with flowering structure: the crank
The other end is provided with notched circular mounting hole, and the other end of the crank is located at the two sides of the notch of the circular mounting hole
Protruding respectively to have clamping plate, a disk to match with the circular mounting hole is placed in the circular mounting hole, two sides
The clamping plate by fishbolt clamp, with this by the disk banding in the circular mounting hole, the output eccentric shaft
It is fixed on the disk.
The beneficial effects of the utility model are embodied in:
The utility model can be such that device for healing and training is moved in plane of movement in arbitrary trajectory, change circumference
The single training mode of motion profile, by different eccentric position B, then the speed by changing planetary gear and ring gear is closed
System, to change the motion profile of output block, to achieve the effect that simulate human body lower limbs normal gait track, substantially increasing makes
The training effect of user.
The utility model structure is simple, is easy production, economical and practical, and operates and be easy, and function is good, and practicability is very
Height is suitble to user to use on various occasions, it is helped to get well.
Detailed description of the invention
Fig. 1 is the schematic perspective view of an embodiment of the present invention.
Fig. 2 is the overlooking structure diagram of an embodiment of the present invention.
Fig. 3 is the schematic view of the front view of an embodiment of the present invention.
Fig. 4 is the structural schematic diagram of supporting mechanism and planet carrier in an embodiment of the present invention.
Fig. 5 and Fig. 6 is the structural schematic diagram of movement output mechanism with different view in an embodiment of the present invention respectively.
Fig. 7 is the structural schematic diagram of the first installation axle in an embodiment of the present invention.
Fig. 8 is the structural schematic diagram of the second installation axle in an embodiment of the present invention.
Fig. 9 is the working principle diagram of an embodiment of the present invention.
Figure 10 is the structural schematic diagram of an embodiment of an embodiment of the utility model without sun gear.
Figure 11 is the working principle diagram of an embodiment of the utility model without sun gear.
The label of each component in attached drawing are as follows: 11 support plates, 12 first bearing seats, 13 first installation axles, 14 supporting blocks, 141
Guide groove, 15 first end covers, 16,17 flat keys, 21 ring gears, 211 ring-shaped guide rails, 22 sun gears, 23 planetary gears, 24 planets
Frame, 25 second installation axles, 26 second end covers, 31 cranks, 32 output shafts, 33 second bearing seats, 34 disks, 311 circular mounting holes,
312 clamping plates, 313 fishbolts, 314 push against bolt, 315,316 flat keys, 41 belt wheels, 42 worm screws.
Specific embodiment
It is described in detail the utility model below with reference to the accompanying drawings.It should be noted that in the absence of conflict, this Shen
Please in embodiment and embodiment in feature can be combined with each other.
Below referring to Fig. 1 to Fig. 8.
The utility model can anthropomorphic gait double freedom device for healing and training, including supporting mechanism and be arranged described
Movement mechanism on supporting mechanism；
The movement mechanism includes the ring gear 21 with internal tooth being rotatably installed on the supporting mechanism, rotation peace
Planet carrier 24 on the supporting mechanism and the planetary gear with external tooth being rotatably installed on the planet carrier 24
23, and the rotation axis of the ring gear 21 and the rotation axis of the planet carrier 24 are conllinear, the planetary gear 23 and the ring
The internal tooth of shape gear 21 is intermeshed.
It in one embodiment, further include the sun gear 22 with external tooth being rotatably installed on the supporting mechanism, institute
The rotation axis of the rotation axis and the ring gear 21 of stating sun gear 22 is conllinear, the planetary gear 23 and the sun gear
22 are also intermeshed.The sun gear of setting can make each component preferably stress, and overall structure is more reasonable, firm, guarantee
The stability of device.
As shown in figure 9, wherein sun gear is circle I, planetary gear is circle II, and ring gear is circle III, the first installation axle
Center be O point, the center of the second installation axle is A point, in use, driving planet carrier rotation, due to planetary gear and annular tooth
Wheel and sun gear intermeshing, therefore planetary gear can surround the rotation axis O of planet carrier in ring gear and sun gear
Between move in a circle, and can be rotated around own rotation axis A, then drive ring gear to rotate simultaneously, then device produces two
Freedom degree, because in a plane, two freedom degrees can reach any one position, so by different eccentric position B, then
By changing the length velocity relation of planetary gear and ring gear, arbitrary trajectory can be exported in plane of movement, to reach acquisition
Simulate the requirement of the class elliptical orbit of human body lower limbs gait, if when use the installation of planetary gear eccentric position as it is foot-operated,
Any component that can support limbs such as handle, then carry out corresponding sports training.
When specifically used, using two secondary utility model devices, and two ancillary equipments are symmetrical arranged, it is same to be suitable for double limbs
Shi Xunlian, it is more comfortable when patient is using device training, improve rehabilitation efficacy；In use, by the movement mechanism of two ancillary equipments
Planet carrier and planetary gear initial phase be adjusted to 180 degree, more agree in this way human motion rule.
In one embodiment, the supporting mechanism includes support frame, and the first installation axle is rotatably equipped on support frame as described above
13, the sun gear 22 is rotatably installed in first installation axle 13, and the planet carrier 24 is fixedly mounted on described first
In installation axle 13 or the sun gear 22 is fixedly mounted in first installation axle 13, the rotation of planet carrier 24 peace
In first installation axle 13.It designs in this way, it is structurally reasonable, it is reliable and stable, in use, driving the first installation by motor
Revolving speed is passed to planet carrier by axis rotation, the first installation axle, and planet carrier drives planetary gear revolution or the first installation axle that will turn
Speed passes to sun gear, and sun gear drives planetary gear revolution.
Certainly, there is the case where no sun gear, in this case, for above-mentioned support frame, the planet carrier 24 is fixed
It is mounted in the first installation axle 13.
Preferably, for the ease of transmitting driving, be fixedly installed in first installation axle 13 belt wheel 41 or sprocket wheel or
Person's gear.Belt wheel or sprocket wheel or gear can be used as the power input mechanism of device, with indirectly to first installation axle into
Row driving can drive the first installation axle to rotate, revolving speed is higher, device in use, providing a revolving speed to belt wheel by motor
The speed of service it is faster；Or the first installation axle 13 of driving is directly carried out by the motor containing deceleration device.
It is highly preferred that the belt wheel 14 is arranged between two pieces of following support plates 11, active force is more reasonable.
In one embodiment, the ring gear 21 with flowering structure by being rotatably installed on the supporting mechanism: described
The one side of ring gear 21 is equipped with the ring-shaped guide rail 211 of coaxial line, is fixed with supporting block 14, institute on the supporting mechanism
The guide groove 141 for being provided in supporting block 14 and matching with the ring-shaped guide rail 211 is stated, the ring-shaped guide rail 211 is caught in the guide groove
In 141.This implementation, structure is simple, is easy fabrication and installation, will not cause any interference to the movement of planetary gear, have
Extraordinary practicability.
It in one embodiment, further include worm screw 42, the ring gear 21 also has external tooth, the worm screw 42 and the ring
The external tooth of shape gear 21 is intermeshed.Worm screw is also used as the power input mechanism of device, and worm screw and ring gear constitute turbine snail
Linkage can drive ring gear to rotate, and stopping using in use, providing a revolving speed to worm screw by motor
When device, device can occur it is self-locking, so that the initial phase of the device be avoided to change.
In one embodiment, support frame as described above includes two pieces of support plates 11 for being spaced apart from each other arrangement, the support plate 11
Top is fixedly installed with first bearing seat 12, and first installation axle 13 is rotatably installed in the first bearing by rolling bearing
In seat 12.It designs in this way, as a result advantages of simple, is easy fabrication and installation, while can guarantee the stability of structure again, guarantee first
Installation axle is stable, swimmingly rotates.
In specific implementation, the sun gear 22 is rotatably installed in first installation axle 13 also by rolling bearing,
To guarantee sun gear stabilization, swimmingly rotate；Preferably, positioned at the first bearing seat 12 in first installation axle 13
It is respectively equipped with first end cover 15 between two sides and the planet carrier 24 and the sun gear 22, the structure of device can be made more
Compact, end cap can also increase the leakproofness of rolling bearing and the accuracy of bearing positioning.
In one embodiment, the planet carrier 24 and the belt wheel 14 are fixedly mounted on first installation by flat key
On axis 13.This fixed form, it is easy to operate, and install reliable and stable.Specifically, matching is provided in the first installation axle 13
The keyway of conjunction is connected by general flat key 16,17 with the keyway on belt wheel and planet carrier, in this way, the first installation axle, planet
Frame, the revolving speed of belt wheel three are consistent.
In one embodiment, the second installation axle 25 is rotatably equipped on the planet carrier 24, the planetary gear 23 is fixed
It is mounted in second installation axle 25, realizes that the planetary gear 23 is rotatably installed on the planet carrier 24 with this.In this way
Design, structure is simple, device stabilization reliable for operation.
Preferably, second installation axle 25 is rotatably installed on the planet carrier 24 by rolling bearing, to guarantee
Two installation axles are stable, swimmingly rotate；It is highly preferred that the two sides on the planet carrier 24 are respectively equipped with second end cover 26, to increase
Add the leakproofness of rolling bearing and the accuracy of bearing positioning.
It in one embodiment, further include movement output mechanism, the movement output mechanism includes crank 31,32 and of output shaft
Second bearing seat 33, one end of the crank 31 are fixedly mounted in second installation axle 25, the fixed peace of the output shaft 32
Mounted in the other end of the crank 31, the second bearing seat 33 is rotatably installed on the output shaft 32 by bearing.In this way
Mechanism, since crank is fixedly mounted in the second installation axle, the second installation axle, planetary gear, crank three turn
It is fast consistent, it is the equal of integrated movement, output shaft is in a certain eccentric position of planetary gear.
In use, limb support part can be installed in second bearing seat 33, such as foot-operated, handle can drive limbs of patient
It is moved with training device.
In one embodiment, the output shaft 32 is by being fixedly mounted on the other end of the crank 31: institute with flowering structure
The other end for stating crank 31 is provided with notched circular mounting hole 311, and the other end of the crank 31 is located at the round peace
The two sides of the notch in dress hole 311 are protruding respectively clamping plate 312, a disk 34 to match with the circular mounting hole 311
It is placed in the circular mounting hole 311, the clamping plates 312 of two sides is clamped by fishbolt 313, with this by the disk 34
In the circular mounting hole 311,32 bias of output shaft is fixed on the disk 34 banding.It designs in this way, as long as loose
Move back fishbolt, so that it may adjust the angle of disk, also be capable of the position of regulation output shaft, the position of output shaft is made to adjust model
Enclose bigger, and after fishbolt is tightened, banding reliable effect can prevent the position of disk from changing, and avoid result in instruction
The motion profile for practicing device changes.Preferably, it is provided with threaded hole on the disk 34, for being fixedly connected with output shaft.
Preferably, the other end of the crank 31 is also provided with the more than one spiral shell communicated with the circular mounting hole 311
Line through-hole, the tapped through hole internal screw thread are connected with the abutting bolt 314 for further pushing against the disk.
In one embodiment, one end of the crank 31 is fixedly mounted in second installation axle 25 by flat key.This
Kind fixed form, it is easy to operate, and install reliable and stable.Specifically, be arranged in second installation axle 25 there are two keyway,
Planetary gear and crank and the second installation axle is set to be connected by general flat key 315,316.
It is the schematic diagram for having sun gear device referring to Fig. 9, wherein sun gear is circle I, and planetary gear is circle II,
Ring gear is circle III, and the center of the first installation axle is O point, and the center of the second installation axle is A point, and the center of output shaft is B point,
Before use device, the position of disk is adjusted, then fix disk banding by fishbolt, that is, change O point to B point
The size of distance and ∠ OAB.In different eccentric position B, then the length velocity relation by changing planetary gear and ring gear, make defeated
Component can export arbitrary trajectory in plane of movement out, to reach the class ellipse rail for obtaining simulation human body lower limbs normal gait
Mark requirement.
It can be obtained by schematic diagram, there are four movable part, four low pairs, two higher pairs, according to freedom degree meter for the training device
Calculate formula F=3n-2PL-PH, the freedom degree that can obtain the training device is 2.
Referring to Figure 11, for the schematic diagram of no sun gear mechanism, ring gear is circle I, and planetary gear is circle II, the
The center of one installation axle is O point, and the center of the second installation axle is A point, and the center of output shaft is B point, before use device, is adjusted
The position of full circle disk, then fixed disk banding by fishbolt, that is, change O point to B point distance and ∠ OAB it is big
It is small.In different eccentric position B, then the length velocity relation by changing planetary gear and ring gear, so that output block is being transported
Arbitrary trajectory is exported in dynamic plane, to reach the class elliptical orbit requirement for obtaining simulation human body lower limbs normal gait.
It can be obtained by schematic diagram, there are three movable part, three low pairs, a higher pairs, according to freedom degree meter for the training device
Calculate formula F=3n-2PL-PH, the freedom degree that can obtain the training device is 2.
The utility model can be such that device for healing and training simulation human body lower limbs normal gait track is moved, and change circle
The single training mode of all motion profiles, substantially increases the training effect of user.The utility model structure is simple, is easy system
Make, it is economical and practical, and operate and be easy, function is good, and practicability is very high, is suitble to user to use on various occasions, helps it
It gets well.
It should be understood that example as described herein and embodiment are not intended to limit the utility model only for explanation, this
Field technical staff can make various modifications or variation according to it, within the spirit and principle of the utility model, made
Any modification, equivalent substitution, improvement and etc. should be included within the scope of protection of this utility model.
Claims (10)
1. one kind can anthropomorphic gait double freedom device for healing and training, it is characterised in that: exist including supporting mechanism and setting
Movement mechanism on the supporting mechanism；
The movement mechanism includes the ring gear (21) with internal tooth being rotatably installed on the supporting mechanism, rotational installation
In the planet carrier (24) on the supporting mechanism and the planet tooth with external tooth being rotatably installed on the planet carrier (24)
It takes turns (23), and the rotation axis of the ring gear (21) and the rotation axis of the planet carrier (24) are conllinear, the planetary gear
(23) it is intermeshed with the internal tooth of the ring gear (21).
2. as described in claim 1 can anthropomorphic gait double freedom device for healing and training, it is characterised in that: further include rotation
The sun gear (22) with external tooth being mounted on the supporting mechanism, the rotation axis of the sun gear (22) and the ring
The rotation axis of shape gear (21) is conllinear, and the planetary gear (23) and the sun gear (22) are intermeshed.
3. as claimed in claim 2 can anthropomorphic gait double freedom device for healing and training, it is characterised in that: the support machine
Structure includes support frame, is rotatably equipped on support frame as described above the first installation axle (13), and the sun gear (22) is rotatably installed in
On first installation axle (13), the planet carrier (24) be fixedly mounted on first installation axle (13) or it is described too
Positive gear (22) is fixedly mounted on first installation axle (13), and the planet carrier (24) is rotatably installed in first installation
On axis (13).
4. as claimed in claim 3 can anthropomorphic gait double freedom device for healing and training, it is characterised in that: support frame as described above
It is spaced apart from each other the support plate (11) of arrangement including two pieces, is fixedly installed with first bearing seat at the top of the support plate (11)
(12), first installation axle (13) is rotatably installed in the first bearing seat (12) by bearing.
5. as claimed in claim 3 can anthropomorphic gait double freedom device for healing and training, it is characterised in that: first peace
Dress axis (13) on be fixedly installed with belt wheel (41) either sprocket wheel or gear to be driven indirectly to first installation axle (13)
It is dynamic, or directly carry out driving first installation axle (13) by the motor containing deceleration device.
6. as described in any one of claims 1 to 5 can anthropomorphic gait double freedom device for healing and training, feature exists
In: the ring gear (21) with flowering structure by being rotatably installed on the supporting mechanism: the one of the ring gear (21)
Side is equipped with the ring-shaped guide rail (211) of coaxial line, is fixed with supporting block (14), the supporting block on the supporting mechanism
(14) guide groove (141) matched with the ring-shaped guide rail (211) is provided on, the ring-shaped guide rail (211) is caught in the guide groove
(141) in.
7. as described in any one of claims 1 to 5 can anthropomorphic gait double freedom device for healing and training, feature exists
In: it further include worm screw (42), the ring gear (21) also has external tooth, the worm screw (42) and the ring gear (21)
External tooth intermeshing.
8. as described in any one of claims 1 to 5 can anthropomorphic gait double freedom device for healing and training, feature exists
In: it is rotatably equipped with the second installation axle (25) on the planet carrier (24), the planetary gear (23) is fixedly mounted on described
In two installation axles (25), realize that the planetary gear (23) is rotatably installed on the planet carrier (24) with this.
9. as claimed in claim 8 can anthropomorphic gait double freedom device for healing and training, it is characterised in that: further include movement
Output mechanism, the movement output mechanism include crank (31), output shaft (32) and second bearing seat (33), the crank (31)
One end be fixedly mounted on second installation axle (25), the output shaft (32) is fixedly mounted on the another of the crank (31)
One end, the second bearing seat (33) are rotatably installed on the output shaft (32) by bearing.
10. as claimed in claim 9 can anthropomorphic gait double freedom device for healing and training, it is characterised in that: the output
Axis (32) is by being fixedly mounted on the other ends of the crank (31) with flowering structure: the other end of the crank (31) is provided with band and lacks
The circular mounting hole (311) of mouth, and the other end of the crank (31) is located at the two sides of the notch of the circular mounting hole (311)
Protruding respectively to have clamping plate (312), a disk (34) to match with the circular mounting hole (311) is placed in the round peace
It fills in hole (311), the clamping plate (312) of two sides is clamped by fishbolt (313), and disk (34) banding is existed with this
In the circular mounting hole (311), output shaft (32) bias is fixed on the disk (34).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822150739.7U CN209332639U (en) | 2018-12-18 | 2018-12-18 | It is a kind of can anthropomorphic gait double freedom device for healing and training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822150739.7U CN209332639U (en) | 2018-12-18 | 2018-12-18 | It is a kind of can anthropomorphic gait double freedom device for healing and training |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209332639U true CN209332639U (en) | 2019-09-03 |
Family
ID=67757885
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822150739.7U Withdrawn - After Issue CN209332639U (en) | 2018-12-18 | 2018-12-18 | It is a kind of can anthropomorphic gait double freedom device for healing and training |
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| CN (1) | CN209332639U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109481234A (en) * | 2018-12-18 | 2019-03-19 | 合肥工业大学 | It is a kind of can anthropomorphic gait double freedom device for healing and training |
-
2018
- 2018-12-18 CN CN201822150739.7U patent/CN209332639U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109481234A (en) * | 2018-12-18 | 2019-03-19 | 合肥工业大学 | It is a kind of can anthropomorphic gait double freedom device for healing and training |
| CN109481234B (en) * | 2018-12-18 | 2024-03-19 | 合肥工业大学 | Double-freedom-degree rehabilitation training device capable of simulating human gait |
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