EP2271297A1 - Mobilisateur de membre inférieur, pour les mouvements répétitifs de l'articulation du genou et de la hanche, avec fonction d'assistance pour une utilisation active - Google Patents

Mobilisateur de membre inférieur, pour les mouvements répétitifs de l'articulation du genou et de la hanche, avec fonction d'assistance pour une utilisation active

Info

Publication number
EP2271297A1
EP2271297A1 EP09741838A EP09741838A EP2271297A1 EP 2271297 A1 EP2271297 A1 EP 2271297A1 EP 09741838 A EP09741838 A EP 09741838A EP 09741838 A EP09741838 A EP 09741838A EP 2271297 A1 EP2271297 A1 EP 2271297A1
Authority
EP
European Patent Office
Prior art keywords
leg
leg movement
movement rail
motor
patient
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP09741838A
Other languages
German (de)
English (en)
Inventor
Gerhard Knoll
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Medireha GmbH Produkte fuer die Medizinische Rehabilitation
Original Assignee
Medireha GmbH Produkte fuer die Medizinische Rehabilitation
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Medireha GmbH Produkte fuer die Medizinische Rehabilitation filed Critical Medireha GmbH Produkte fuer die Medizinische Rehabilitation
Publication of EP2271297A1 publication Critical patent/EP2271297A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5061—Force sensors

Definitions

  • the present invention relates to a leg movement splint for repetitive movement of the knee and hip joint according to the preamble of claim 1.
  • leg movement splint known from EP 0 676 944 B1
  • a continuous passive movement with force-free movement between the leg movement splint and the leg to be treated is achieved.
  • the healing process is stimulated and shortened and the recovery of traumatic joints is accelerated.
  • the leg of the patient is moved exclusively by the continuously passive movement track.
  • leg movement splints which are used as active orthoses and in which the patient can further refine the healing process under load.
  • Al leg movement rail is a footrest for active mobilization in the longitudinal direction displaceable, wherein the displacement takes place under the action of springs in the pressure and / or tensile direction.
  • the patient must work against this predetermined spring load, which leads to an acceleration of the restoration of, for example, artrophied muscles.
  • a pressure cell is provided in the foot part, which depends on the patient activity emits an optical signal that allows the patient to check his progress. This does not affect the continuous passive movement of the leg movement splint.
  • the object of the present invention is therefore to combine the hitherto separate therapeutic methods in a leg movement splint such that, depending on the gradual restoration of patient mobility, the exercises can be gradually transferred from a purely passive via a combined passive / active to a purely active form of therapy which the patient has in his hand to make the motor support more or less less.
  • the leg movement rail can be continuously transferred from an exclusively passive to an at least partially active or own movement activity as a function of the patient activity on the basis of the pressure and / or tensile forces applied by the patient.
  • the measuring system used in the form of sensors and / or a current-speed measurement can detect forces both in the direction of diffraction and in the direction of extension.
  • the engine and transmission unit can provide the force required to support patient movement in preset percentage values between 100 percent and 0 percent.
  • sensors are used in the measuring system which detect the pressure and / or tensile forces applied by the patient, they can be arranged at different points or regions of the leg movement rail. According to the features of claims 8 or 9 or 10 or 11 or 12 or 13, the sensors can either be provided individually or in combination between threaded spindle and slide or between threaded spindle or a bearing block receiving this or on the foot part of the leg movement rail.
  • FIG. 2 shows a block diagram for illustrating the function of the leg movement rail according to FIG. 1
  • FIG. 3 shows the design and position of pressure sensors for the patient activities according to a first embodiment
  • FIG. 4 shows the design and position of pressure sensors for the patient activities according to a second embodiment
  • FIG. 5 shows the design and position of pressure sensors for the patient activities according to a third embodiment
  • FIG. 6 shows a sequence program of the leg movement rail according to FIG. 1,
  • FIGS. 7 and 8 each show a sequence subroutine for the sequence program according to FIG. 6.
  • the leg movement splint 10 shown in Figure 1 is for a patient in which, for example, after surgery of the hip joint and / or knee joint or a traumatized joint, the healing process of these / these joints to be accelerated, both the continuous passive leg movement and the motor assisted active leg movement of the patient.
  • the leg movement rail 10 is designed so that the movement between full extension and flexion of the joints or is performed anatomically correct.
  • the leg movement splint 10 may be adapted for different patient sizes in terms of lower leg length, thigh length, footplate tilt, and ankle height.
  • the leg movement rail 10 has an orthosis 11 of a plurality of mutually hinged brackets in In the form of pairs of parallel rods 12 to 15, between which support means 16, 17, for example in the form of shells for the different sections of the leg of a patient, are held in a manner not shown in detail.
  • the orthosis 11 is connected via a connecting element in the form of a connecting rod pair 18 with a sliding carriage 21 of a base 20 which is formed by a corresponding frame of parallel rods or by a plate.
  • the sliding carriage 21 can be moved back and forth along the base 20 according to the double arrow A by means of a motor.
  • the pair of rods 12 is used on the support means 16 of the support of the thigh of the patient and is provided with at least one fixing band 26 for the thigh.
  • the thigh-rod pair 12 is connected via a hinge mechanism 27, which is provided in an only schematically illustrated manner with an angle encoder 28, with the rod pair 14 for the lower leg of the patient.
  • the lower leg rod pair 14 is provided in the region of the support means 17 with, for example, two spaced-apart Fixierbandern 29.
  • Another thigh-rod pair 13, which serves to adjust the angular position and the length of the thigh-rod pair 12 is at one end via a joint 31 along a rail 32 on the underside of the lower leg-pair of rods 14 slowly movable and the other end via a hinge 33 with the associated End of the base 20 articulated.
  • the further pair of rods 13 in the region 36 in its length is telescopically adjustable, so that the thigh length of the patient can be considered.
  • Sickle-like levers 34 are pivotally provided between the thigh-rod pairs 12 and 13.
  • the Verlang ceremoniessstangenpare 15 in the region 37 are long adjustable connected at its the pair of rods 14 facing away from the free end via a hinge 38 with a shoe-like foot support 40, which is provided with a plantar plate 41, are provided on the fixing bands 42 for the patient's foot.
  • the sole plate 41 with her heel pad 43 is opposite to the
  • Extension rod pairs 15 adjustable in inclination and adjustable in terms of the ankle height of the patient.
  • a connecting rod pair 18 is connected at one end to the connection 39 between lower leg rod pair 14 and extension rod pair 15 and at the other end via a hinge 44 with the sliding carriage 21. With the reciprocating movement (double arrow A) of the sliding block 21, the lower leg rod pairs 14 with the
  • Extension rod pairs 15 moves up and down and the knee joint mechanism 27 with the angle encoder 28, the thigh-rod pairs 12 and 13th
  • the base 20 carries in Figure 1 but not in Figure 2 in a block-like manner a motor and gear unit 204 and a motor controller 205 for the preferably electrically powered engine.
  • the motor and gear unit 204 is rotatably connected to a, preferably a trapezoidal thread having threaded spindle 22 (Figure 3) which reciprocates a driver 23 of the slide 21.
  • the threaded spindle 22 is at one end in the gear unit fixed to drive and the other end in a Endlagerbock 24 ( Figure 4) stored.
  • the sliding carriage 21 is movable instead of a threaded rod drive via a hydraulic or pneumatic cylinder or via an electromechanical linear drive (linear motor) or back and forth.
  • a reciprocating motion of the pair of connecting rods 18 held pivotally on the base 20 can be carried out via the sliding carriages 21, whereby the articulated mechanism 27 provided with the angle encoder 28 is actuated and an anatomical trajectory of the knee joint about the axis of rotation of the knee joint Hip joint imitated.
  • the knee angle sensor 218 of the absolute angle sensor 28 detects the current angle of diffraction of the patient's knee.
  • the motor controller 205 takes over the electronic control of the drive motor 205 and is preferably wired connection with a remote control unit (handset) 300, the knee-angle sensor 218 and a measuring system arranged, for example, in the sliding carriage 21.
  • the remote control unit 300 allows the parameterization and mode selection, that is, whether a purely passive movement or supported by passive movement active movement of the patient's leg is to take place.
  • the remote control unit 300 also takes over the flow control and serves to control display of the device.
  • a parameterization, starting and stopping of the two movement rails 10 takes place via a keypad 303.
  • a display 302 serves to display the operating mode, the programmed parameters and current measured values.
  • the mode of operation of the continuous, purely passive mode of operation is known and arises, for example, from EP 0 676 944 B1.
  • a force is applied via the motor and gear unit which moves the patient leg in a preset angular range between extension and flexion at a predetermined speed.
  • the electromotive drive 204 In the active mode, in contrast to the passive movement, a self-effort of the patient is required. In this case, the electromotive drive 204 only takes over the force required to support the movement, which exceeds the preset percentage value between 100% and 0%. motor support corresponds.
  • the patient To move leg movement rail 10 into motion and maintain it, the patient must expend the minimum required force. This force is measured via the measuring system 216 connected to an activity sensor 206 on the sliding carriage 21 and supplied via the motor control 205 in accordance with the drive as a manipulated variable. If the patient reduces his effort, this results in reduced engine power and the movement slows down or can also stop. When increasing the effort is a corresponding increase in speed.
  • the patient By displaying on the display 302 of the remote control unit 300 or alternatively on the base 20 displays, the patient can acoustically and visually perceive his success of the "cooperation" as feedback and make corrections corresponding to more or less force.
  • FIG. 2 shows a typical realization of
  • the leg movement rail 10 in the form of a block diagram.
  • the leg movement rail 10 has, as mentioned, the remote control unit 300 and a motor controller 205 with connected drive unit 204 of preferably electric motor with gear set, one with a knee-angle sensor 208 for the current measuring unit 218 and with the activity sensor 206 for the compressive and tensile forces, the Patient on the leg movement rail 10 exercises.
  • the pressure and tension sensors 206 can be designed or arranged in different ways and at different locations on the leg movement rail 10.
  • the remote control unit 300 consists essentially of a microprocessor (CPU) 301, a display 302 for the output and display of information and a keyboard 303 for input. About the keyboard 303 of the Users program the remote control unit 300, so that the necessary for controlling the leg movement rail 10 sequence program can be started or stopped. Via a communication interface, not shown, the remote control unit 300 is connected to a microprocessor 210 (CPU) of the motor controller 205 in connection. Commands as well as status and error information are exchanged via this interface.
  • CPU microprocessor
  • the CPU 210 of the motor controller 205 can control the drive unit 204 or the electric motor.
  • the control of the speed and the specification of the direction of rotation takes place via the driver unit 214.
  • the CPU 210 can determine the current angular position supplied by the knee angle sensor 208.
  • a positioning command of the remote control unit 300 autonomously monitors the CPU 210 and stops the motor 204 at the programmed target position by determining the angle that sets in the knee angle sensor 208.
  • the patient pressure and tension forces of the patient are ascertained via the patient activity sensor measuring unit 216 via the patient activity sensor (s) 206 and transmitted to the remote control unit 300 for further processing. This increases or decreases the speed of the drive unit 204, depending on the patient activity.
  • the pressure or tensile force measuring sensor 206 may be provided at various selected locations on the leg movement rail 10. In other words, for the decrease of the compressive and tensile forces of the patient activity in active mode, several suitable locations or positions can be applied, as explained below with reference to FIGS. 3 to 5 becomes.
  • the sensors 206 are formed for example by piezo elements or strain gauges.
  • the pressure and tension sensors 206, 206 ' are mounted below the carrier 23 of the sliding carriage 21.
  • the tensile and compressive forces exerted by the patient on the leg movement rail 10 are transmitted vertically via the driver 23 to the sensors 206, 206 '. From the information movement direction of the leg movement rail 10 and the measured forces of the sensors 206, 206 ', the pressure and tensile forces caused by the patient can be considered separately and further processed by the control program.
  • the driver 23 of the slide 21 is provided with a corresponding to the external thread of the threaded spindle 22 formed here trapezoidal internal thread, wherein between this
  • Internally threaded sleeve 46 and a driver 47 at the respective axial ends of a sensor 206 or 206 ' is arranged in the form of a flat sensor. Covered are the flat sensors 206, 206 'at the two ends in each case by a side plate 48, 48', which is fastened with a screw 49 or 49 'to the internally threaded sleeve 46.
  • FIG. 4 shows an alternative recordable recording of the tensile and compressive forces in the region of the final bearing block 24.
  • the transmitted tensile and compressive forces caused by the patient via the sliding carriage 21 and threaded spindle 22 can be tapped in the region of a ball bearing 51 for the threaded spindle 22.
  • About the two-sided sensors 206a and 206a 'now the tensile and compressive forces can be determined and processed by the control program on.
  • the pressure sensors 206a, 206a 1 are designed as ring sensors, in the axial or radial position on both sides of the ball bearing 51 are arranged.
  • a flange 52 holds the one pressure sensor 206a 'on the axial side of the ball bearing 51 and a synchronizer disk 53 presses the pressure sensor 206a against the corresponding annular surface of the ball bearing 51 from the other side.
  • FIG. 5 another alternative is to absorb the compressive and tensile forces in the footrest 40.
  • the tensile and compressive forces which the patient exerts on the movement rail 10 are determined on the rear side of the foot plate 41 of the leg movement rail 10.
  • the patient's foot is fixed to the foot plate 41 so that both the compressive forces and the tensile forces are transmitted securely to the single pressure sensor 206b.
  • the sensor 206b is "floating" between two pressure plates 56 and 57 on the back of the plantar plate 41, which allow the mechanical attachment of the plantar plate 41 on the foot support 40 and the extension rod pair 15 of the leg movement rail 10. From the measured value of the sensor 206b, the force direction (train or pressure) can be determined and further processed by the control program.
  • the sensor 206b is designed as a flat sensor.
  • the two pressure plates 56 and 57 with the interposed pressure and tension sensor 206b are connected via countersunk screws 58 and a wing nut 59 with the plantar plate 41, wherein on the side facing away from the plantar plate 41 of the outer pressure plate 56, an ankle brace 61 is held, in addition to this Pressure plate 56 is connected.
  • the force exerted on the patient in the compression or pulling direction is detected by a sensor 206, 206 ', 206a, 206a' or 206b.
  • a sensor 206, 206 ', 206a, 206a' or 206b becomes Avoidance of sensors of the active force of the patient in one or the other direction via a current-speed measurement detected and fed to the measuring unit 216.
  • the motor acts as a brake.
  • a combination of sensor and current speed measurement is provided.
  • the flowchart of Figure 6 shows the operation or sequence program of the leg movement splint 10.
  • step 410 the programmed therapy parameters are loaded by the program and assigned to the internal variables in subroutine 420 and the motor is started.
  • a base speed is used, which can increase up to the programmed maximum speed, depending on the patient activity.
  • passive mode the programmed maximum speed is used.
  • step 440 it is checked whether the target position (ROM) of the leg movement rail 10 has been reached. If so, in step 565 the engine is stopped and subsequent branch 570 checks to see if any pause time needs to be inserted in step 580. After the pause, the direction change in subroutine 590 is made and the speed is set again. In active mode the basic speed is set again, in passive mode the maximum programmed speed of the remote control unit 300. The program continues from step 430.
  • step 450 it is checked in step 450 whether a preset therapy time has expired. If this is the case, the leg movement rail 10 is positioned in the middle position via step 550 and the sequence program is ended via step 560.
  • branch 460 checks to see if there is a STOP request from the patient or from leg movement splint 10 (e.g., error message). Here the immediate termination of the sequence program via step 560 and stopping the leg movement rail 10 takes place.
  • branch 470 is used to distinguish between active or passive mode.
  • active mode subroutine 480 determines patient activity. In accordance with the read or pull value the patient exerts on the leg movement rail, the speed is either increased to the programmed maximum speed in step 500 or alternatively lowered to the ground speed in step 520. Otherwise, the speed is held in step 530. In passive mode patient activity is disregarded and the sequence program continues from position 500.
  • step 540 the feedback information is passed to the patient to make appropriate corrections.
  • the sequence program continues from position 430.
  • the flow chart of Figure 7 illustrates that of the subroutine 420 ( Figure 6) for the initialization of Target position ROM, the speed and direction of rotation of the motor 204 is.
  • step 420.1 it is determined in step 420.1 that the first direction of movement must take place with an extension, so that the direction of rotation of the motor 204 is derived from this.
  • step 420.3 the end of the ROM variable is initialized to the programmed stretch value of the remote control unit 300.
  • the speed of the motor is set to a ground speed in step 420.6 in the case of the active mode.
  • step 420.7 the programmed maximum speed of the remote control unit 300.
  • step 420.8 the motor 204 is started in the initialized direction and speed.
  • the subroutine 420 ends.
  • FIG. 8 illustrates that of the subroutine 590 (FIG. 6) for the initialization of the following target position ROM, speed and direction of rotation of the motor 204.
  • the direction reversal is initialized in step 590.1.
  • the selection of the target position, end of ROM in steps 590.3 or 590.4 occurs. This also results in the direction of rotation of the motor 204.
  • the speed of the motor 204 is set depending on the operating mode. In active mode, the basic speed is set in step 590.6. In the passive mode, the allocation is made in step 590.7 of the maximum programmed speed from the remote control unit 300. In step 590.8, the engine is started in the initialized direction and speed. Subroutine 590 ends.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rehabilitation Tools (AREA)
  • Orthopedics, Nursing, And Contraception (AREA)

Abstract

L'invention porte sur un mobilisateur de membre inférieur (10), pour les mouvements répétitifs de l'articulation du genou et de la hanche, qui est doté d'une base (20), d'une unité de moteur et de transmission (204) et d'une unité de commande du moteur (205) sur la base (20), d'une fixation à la cuisse (12, 13) qui est montée sur la base (20) par l'une de ses extrémités avec une articulation pivotante (31), d'une fixation à la jambe (14, 15) qui est montée sur la base (20) à l'aide d'une articulation montée coulissante le long de la base (20), et d'un mécanisme d'articulation (27) qui relie l'autre extrémité de la fixation à la jambe (14, 15) et la fixation à la cuisse (12, 13). Afin de pouvoir passer progressivement d'une forme passive à une forme active de thérapie, en fonction de la reconstitution graduelle de la mobilité du patient, il est prévu, au-delà d'un mouvement réglable, continu et passif du mobilisateur de membre inférieur (10) commandé par l'unité de moteur et de transmission (204), d'obtenir une gestion active du mobilisateur de membre inférieur (10) par le patient, pour agir sur ce mouvement, du fait que les forces de pression et/ou de traction exercées par le patient sont déterminées par des capteurs (206) et/ou par une mesure du courant et de la rotation, dont les valeurs de mesure sont envoyées à l'unité de commande du moteur (205) et sont utilisées comme grandeur de réglage pour l'unité de moteur et de transmission (204).
EP09741838A 2008-05-05 2009-04-30 Mobilisateur de membre inférieur, pour les mouvements répétitifs de l'articulation du genou et de la hanche, avec fonction d'assistance pour une utilisation active Withdrawn EP2271297A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102008023573A DE102008023573A1 (de) 2008-05-05 2008-05-05 Beinbewegungsschiene zur repetitiven Bewegung des Knie- und Hüftgelenks mit Assistenzfunktion bei aktiver Nutzung
PCT/EP2009/003126 WO2009135619A1 (fr) 2008-05-05 2009-04-30 Mobilisateur de membre inférieur, pour les mouvements répétitifs de l'articulation du genou et de la hanche, avec fonction d'assistance pour une utilisation active

Publications (1)

Publication Number Publication Date
EP2271297A1 true EP2271297A1 (fr) 2011-01-12

Family

ID=40852343

Family Applications (1)

Application Number Title Priority Date Filing Date
EP09741838A Withdrawn EP2271297A1 (fr) 2008-05-05 2009-04-30 Mobilisateur de membre inférieur, pour les mouvements répétitifs de l'articulation du genou et de la hanche, avec fonction d'assistance pour une utilisation active

Country Status (4)

Country Link
US (1) US20110040215A1 (fr)
EP (1) EP2271297A1 (fr)
DE (1) DE102008023573A1 (fr)
WO (1) WO2009135619A1 (fr)

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US9271864B2 (en) * 2011-10-04 2016-03-01 Feinstein Patents Llc Orthosis for range of motion, muscular and neurologic rehabilitation of the lower extremities
US9682004B2 (en) * 2013-07-19 2017-06-20 Lambda Health System Sa Systems, devices and methods for exercising the lower limbs
CN111345973B (zh) * 2017-11-24 2022-04-22 国家康复辅具研究中心 一种康复训练***
CN108853898B (zh) * 2018-06-26 2020-05-26 王桂兰 一种神经内科偏瘫康复训练装置
KR102330315B1 (ko) * 2018-12-05 2021-11-24 (주)비빔플래닛 관절 가동 기기
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US20110040215A1 (en) 2011-02-17

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