CN106491310B - An intelligent rehabilitation medical device - Google Patents
An intelligent rehabilitation medical device Download PDFInfo
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- CN106491310B CN106491310B CN201611026826.0A CN201611026826A CN106491310B CN 106491310 B CN106491310 B CN 106491310B CN 201611026826 A CN201611026826 A CN 201611026826A CN 106491310 B CN106491310 B CN 106491310B
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- 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
- A61H1/0218—Drawing-out devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording for evaluating the cardiovascular system, e.g. pulse, heart rate, blood pressure or blood flow
- A61B5/0205—Simultaneously evaluating both cardiovascular conditions and different types of body conditions, e.g. heart and respiratory condition
- A61B5/02055—Simultaneously evaluating both cardiovascular condition and temperature
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording for evaluating the cardiovascular system, e.g. pulse, heart rate, blood pressure or blood flow
- A61B5/021—Measuring pressure in heart or blood vessels
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/02—Detecting, measuring or recording for evaluating the cardiovascular system, e.g. pulse, heart rate, blood pressure or blood flow
- A61B5/024—Measuring pulse rate or heart rate
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/08—Measuring devices for evaluating the respiratory organs
- A61B5/0816—Measuring devices for examining respiratory frequency
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
- A61B5/1118—Determining activity level
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/74—Details of notification to user or communication with user or patient; User input means
- A61B5/746—Alarms related to a physiological condition, e.g. details of setting alarm thresholds or avoiding false alarms
-
- 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
-
- 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
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
-
- 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
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/04—Heartbeat characteristics, e.g. E.G.C., blood pressure modulation
- A61H2230/06—Heartbeat rate
- A61H2230/065—Heartbeat rate used as a control parameter for the apparatus
-
- 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
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/30—Blood pressure
- A61H2230/305—Blood pressure used as a control parameter for the apparatus
-
- 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
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/40—Respiratory characteristics
- A61H2230/42—Rate
- A61H2230/425—Rate used as a control parameter for the apparatus
-
- 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
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/50—Temperature
- A61H2230/505—Temperature used as a control parameter for the apparatus
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Cardiology (AREA)
- Physiology (AREA)
- Molecular Biology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Pathology (AREA)
- Biophysics (AREA)
- Physics & Mathematics (AREA)
- Pulmonology (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Dentistry (AREA)
- Vascular Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
本发明涉及一种智能康复医疗装置，包括设置在机架上的驱动单元、联动单元、传感单元和康复评估单元，联动单元包括连杆机构和与其联动的滑轨机构，联动单元包括连杆机构和与其联动的滑轨机构，滑轨机构在驱动单元的驱动下沿曲线轨道滑动，连杆机构配合滑轨机构联动而移动至相应位置，从而使滑轨机构辅助运动对象进行下肢康复训练，康复评估单元基于传感单元采集的训练对象的生理信息和运动信息评估训练对象的身体情况和康复情况，并且根据身体情况实时调整训练对象的运动频率和运动时间。本发明根据前期实验采集的人体正常运动数据而研制，具有很强的适应性和科学性。按人体正常行走曲线进行康复训练，有利于提高人体康复疗效，缩短康复周期。
The present invention relates to an intelligent rehabilitation medical device, comprising a driving unit, a linkage unit, a sensing unit and a rehabilitation assessment unit arranged on a frame, wherein the linkage unit comprises a connecting rod mechanism and a slide rail mechanism linked thereto, and the linkage unit comprises a connecting rod mechanism and a slide rail mechanism linked thereto, wherein the slide rail mechanism slides along a curved track driven by the driving unit, and the connecting rod mechanism cooperates with the slide rail mechanism to move to a corresponding position, so that the slide rail mechanism assists the exercise subject in performing lower limb rehabilitation training, and the rehabilitation assessment unit assesses the physical condition and rehabilitation status of the exercise subject based on the physiological information and motion information of the exercise subject collected by the sensing unit, and adjusts the exercise frequency and exercise time of the exercise subject in real time according to the physical condition. The present invention is developed based on normal human motion data collected in preliminary experiments, and has strong adaptability and scientificity. Performing rehabilitation training according to the normal walking curve of the human body is conducive to improving the rehabilitation effect of the human body and shortening the rehabilitation cycle.
Description
Technical field
The present invention relates to rehabilitation medical field more particularly to a kind of intelligent rehabilitation medical devices.
Background technique
The application of rehabilitation medical instrument, is to aid in the disabled, returns society most including disabled person, the elderly, sick and wounded people
Effective means.Rehabilitation medical instrument is the bridge of disabled person's recurrence society, is had to the stabilization and harmony that promote society important
Meaning.It was verified that rehabilitation medical instrument is conducive to promote rehabilitation effect, shorten rehabilitation duration.
Nowadays rehabilitation medical instrument in the market is numerous in variety, specifically has for positions such as shoulder, neck, legs.It is some
Costly, average family is difficult to receive the rehabilitation medical instrument price of import.In recent years, there are more rehabilitation doctors in the country
Instrument research unit is treated, domestic rehabilitation medical instrument enterprise emerges in multitude.With the competition in market, the price of rehabilitation medical instrument
It is more economical, received by more wide crowd.
The development of rehabilitation medical instrument has following several processes: the determination for object of being benefited, data acquisition, train of mechanism are set
Meter, product improve and molding.This product objective crowd is the patient of lower limb walking disorder.In terms of the acquisitions of data, use compared with
For the advanced information processing method based on image.It labels in human body lower limbs key position, pass is extracted from video image
The coordinate of the point at key position, and then gait curve when human normal movement can be obtained, it lays a good foundation for mechanism design link.
Train of mechanism design aspect determines selected class of establishment, i.e. chain conveyer, bar machine on the basis of existing key point translation specifications
Structure, cam mechanism etc..The size of each mechanism is further determined that using Machine Design theoretical algorithm, and then considers the dress of axis
With being processed with technique, reasonable selection axle sleeve, rolling bearing, end cap etc..Product is improved and is formed, the installation of reasonable arrangement mechanism
Position, considers the behavioural habits of processing technology and human body, and carries out local directed complete set.Such as the left and right of cam path and pedal is put
It sets, the setting of vehicle seat altitude range, the adjusting of handrail height etc..
Summary of the invention
For the deficiencies of the prior art, the present invention provides a kind of intelligent rehabilitation medical device, and described device includes that setting exists
Driving unit, linkage unit, sensing unit and rehabilitation assessment unit in rack, which is characterized in that
The linkage unit includes link mechanism and the sliding track mechanism with link mechanism linkage, and the sliding track mechanism exists
It is slided under the driving of the driving unit along curve track, the link mechanism cooperates the sliding track mechanism linkage and is moved to phase
Position is answered, so that sliding track mechanism supplemental training object is made to carry out lower limb rehabilitation training,
The physiologic information and movement letter for the trained object that the rehabilitation assessment unit is acquired based on the sensing unit
Breath assesses the physical condition and rehabilitation situation of the trained object, and adjusts the training pair in real time according to the physical condition
The motion frequency and run duration of elephant.
According to a preferred embodiment, the sliding track mechanism includes sliding block, guide rod, link block and curve track, described
Link block is connect with the driving unit by second level chain-drive mechanism and being rotated by the driving unit, the cunning
At least two guide rods for guiding the sliding block to move along the curve track is provided between block and the link block.
According to a preferred embodiment, the link mechanism includes rocking bar and connecting rod, and the connecting rod is rotatably to connect
The mode of connecing is arranged between the rocking bar and the sliding block, and the connecting rod is ladder structure of right angle, the bevel edge two in right-angled trapezium
End is provided with the pedal trampled convenient for the trained object, and the sliding block is by driving one end of the connecting rod along the curve rail
Road moves that the pedal supplemental training object is made to carry out lower limb rehabilitation training.
According to a preferred embodiment, the position that the link block is contacted with guide rod described at least one is provided with straight line
Bearing, the guide rod move in a straight line during the sliding block is moved along the curve track relative to the link block.
According to a preferred embodiment, the fixed point of the pedal passes through at least two connecting rods and the two of the connecting rod
End connection is to form stable triangular structure；
One end of first connecting rod is pivotally connect jointly with the connecting rod and the rocking bar, the other end and institute
State the fixed point connection of pedal；
One end of second connecting rod is pivotally connect jointly with the connecting rod and the sliding block, the other end and institute
State the fixed point connection of pedal；
The length ratio of the first connecting rod, second connecting rod and the connecting rod is 5.4337:1.6957:
4.2743；
The angle of the plane of the first connecting rod and the pedal is 85 degree.
According to a preferred embodiment, the linkage unit is symmetrically arranged in the both ends of the rack and by symmetrical
The second level chain-drive mechanism of setting is connect with the driving unit, and the driving device in the driving unit passes through level-one chain conveyer
Mechanism drives long axis rotation, wherein and long axis is connect with second level chain-drive mechanism respectively by the gear on its both ends, to make
The linkage unit links according to the driving frequency of the driving unit.
According to a preferred embodiment, the center of the curve track is provided with through the short of curve track baffle
Axis, short axle one end and the second level chain-drive mechanism are sequentially connected, and the other end is connect with the link block, and the link block is in institute
It states and is rotated under the drive of second level chain-drive mechanism according to driving frequency.
According to a preferred embodiment, the sensing unit acquires physiologic information, the lower extremity movement of the trained object
Frequency, foot movement track and run duration, physiologic information, lower limb of the rehabilitation assessment unit based on the trained object are transported
The pressure data that dynamic frequency, foot and pedal generate assesses the rehabilitation situation of the trained object,
Physiologic information of the rehabilitation assessment unit based on the trained object by adjusting the driving unit driving
Frequency adjusts the motion frequency of the pedal.
According to a preferred embodiment, the sensing unit includes at least the pressure sensing being set on the pedal
Device, position information sensors and be set to the rack armrest positions physiological information sensor.
According to a preferred embodiment, the rehabilitation assessment unit includes data processing unit, assessment unit and control
Unit, the exercise data that the data processing unit acquires the sensing unit carry out valid data screening and by valid data
It is sent to the assessment unit, the assessment unit is carried out based on physiology and rehabilitation situation of the valid data to the trained object
Assessment, when described control unit adjusts motion frequency and the movement of the trained object based on the assessment result of the assessment unit
Between.
Advantageous effects of the invention:
(1) the human normal exercise data that is collected according to previous experiments of the present invention and develop, there is very strong adaptation
Property and science.Patient carries out rehabilitation training by human normal walking curve, is conducive to improve human body recovery curative effect, shortens rehabilitation
Period.
(2) present invention possesses broader market prospects.Consider the selection of standard component, the stability of rack and axis
Processing technology, it is simple reliable.Using parts such as rolling bearing, linear bearing and cam bawls, reduce parts depreciation, improves
Mechanical life of product.
(3) present invention combine ergonomics, selected mechanism size is optimized, vehicle seat height adjustment range,
Setting of handrail height etc. is considered, while guaranteeing rehabilitation efficacy, improves human comfort.
(4) present invention can also cooperate other rehabilitation medicals except can individually assist lower limb the disabled to carry out rehabilitation exercise motion
Devices work, for assisting patient to carry out related rehabilitation.
Detailed description of the invention
Fig. 1 is the overall structure diagram of intelligent medical device of the invention；
Fig. 2 is the structural schematic diagram of linkage unit of the invention；
Fig. 3 is the diagrammatic cross-section of sliding track mechanism of the invention；
Fig. 4 is the structural schematic diagram of sliding track mechanism of the invention；
Fig. 5 is the rack of intelligent medical device and the schematic diagram of seat；With
Fig. 6 is another structural schematic diagram of the linkage unit of intelligent medical device.
Reference signs list
1: rack 2: curve track 3: short axle assembly
4: second level chain-drive mechanism 5: level-one chain-drive mechanism 6: motor
7: long axis 8: pedal 9: connecting rod
10: rocking bar 11: guide rod assembly 12: handrail
13: seat 14: link block 15: linear bearing
16: guide rod 17: sliding block 18: pin shaft
19: cam bawl 20: end cap 21: short axle
22: axle sleeve 23: rolling bearing EG: first connecting rod
DG: the second connecting rod GN: third connecting rod
Specific embodiment
It is described in detail with reference to the accompanying drawing.
The present invention provides a kind of intelligent rehabilitation medical device, including the driving unit, linkage unit, biography being arranged on the rack
Feel unit and rehabilitation assessment unit.Linkage unit includes link mechanism and the sliding track mechanism that links with it.Sliding track mechanism is driving
It is slided under the driving of unit along curve track.Link mechanism moves under the linkage of sliding track mechanism along foot movement track, thus
Supplemental training object carries out lower limb rehabilitation training.The physiologic information for the training object that rehabilitation assessment unit is acquired based on sensing unit
The physical condition and rehabilitation situation of training object are assessed with motion information, and according to the real-time adjusting training object of physical condition
Motion frequency and run duration.
Embodiment 1
As shown in Figure 1, a kind of intelligent rehabilitation medical device, including the driving unit, linkage unit, biography being arranged on the rack
Feel unit and rehabilitation assessment unit.
Rack 1 connects and composes symmetrical bracket by multiple bar shaped bars.Rack 1 includes rectangle support and vertical with rectangle support
The u-bracket of connection.The middle part of rectangle support is arranged in u-bracket.U-bracket includes two vertical bars vertical with rectangle support
The cross bar parallel with the plane of rectangle support.Cross bar is connected between two vertical bars.Two braces are connected to u-bracket
Between vertical bar and corresponding rectangle support, so that two braces and two vertical bars, rectangle supports form two in rack two sides respectively
A stable triangle.The material of rack 1 is industrial aluminum profile, by multi-stage commercial aluminum profile by welding and being bolted
At block assembly can facilitate the length adjustment of aluminum profile, have the characteristics that stability height, strong operability.
Linkage unit is symmetrically arranged in the two sides of rack and by symmetrically arranged second level chain-drive mechanism and driving list
Member connection, driving device in driving unit by level-one chain-drive mechanism drive both ends gear respectively with second level chain-drive mechanism
The long axis of connection rotates, so that linkage unit be made to link according to the driving frequency of driving unit.
The u-bracket two sides of central rack are arranged in linkage unit.Linkage unit includes first that 1 side of rack is arranged in
Second linkage unit of linkage unit and the other side.Since the structure of the first linkage unit and the second linkage unit is identical, this hair
It is bright that linkage unit is referred to as to the first linkage unit and the second linkage unit and carries out structure explanation.
As shown in Fig. 2, linkage unit includes link mechanism and the sliding track mechanism that links with it.
Link mechanism includes rocking bar 10 and connecting rod 9.One end of rocking bar 10 and the vertical bar of u-bracket pass through shaft can be rotated
Mode connect, the other end and connecting rod 9 are rotatablely connected.Connecting rod 9 is arranged with rotatable connection type in rocking bar 10 and sliding block 17
Between.Connecting rod 9 is right-angled trapezium shape.The both ends of the bevel edge of right-angled trapezium are connected respectively at one end of rocking bar 10 and sliding block 17.
Wherein, the one end intersected in bevel edge with bottom connect one end of rocking bar 10 with rocking bar 10 with rotatable connection type.In bevel edge
The one end intersected with upper bottom is with rotatable connection type connection sliding block 17.Flash between upper bottom edge and bottom is equipped with just
In the pedal 8 that training object is trampled.
Preferably, as shown in fig. 6, the fixed point of pedal 8 connect with the both ends of connecting rod 9 by least two connecting rods thus
Form stable triangular structure.
The fixed point of pedal 8 connect to be formed with the both ends of connecting rod 9 steady by first connecting rod EG, the second connecting rod DG
Fixed triangular structure.One end of first connecting rod EG is pivotally connect jointly with connecting rod 9 and rocking bar 10, the other end
It is connect with the fixed point of pedal 8.One end of second connecting rod DG is pivotally connect jointly with connecting rod 9 and sliding block 17,
The other end is connect with the fixed point of pedal 8.The length ratio of first connecting rod EG, the second connecting rod DG and connecting rod 9 is 5.4337:
1.6957:4.2743.The angle of the plane of first connecting rod EG and pedal 8 is 85 degree.
Preferably, the fixed point of pedal 8 is connect by third connecting rod GN with the N point at 9 middle part of connecting rod.Third connecting rod GN
It is capable of the power that the both ends of evenly dispersed connecting rod 9 are born, extends the service life of connecting rod 9.
Sliding track mechanism includes sliding block 17, guide rod 16, link block 14 and curve track 2.As shown in figure 3, curve track 2 is arranged
On the inside of baffle.Sliding rail 2 is the grooved tracks on the inside of baffle.Sliding rail 2 is the system according to human motion physiology course
The curve track for counting design meets human body lower limbs laws of motion, makes that object is trained to restore in comfortable training process
Health.
One end of baffle and the vertical bar of u-bracket are fixed, and the other end is fixed on the barrier support parallel with vertical bar.Baffle
The center of upper curve track 2 is provided with the short axle 21 through baffle.Short axle 21 is by rolling bearing 23 with rotatable side
Formula is fixed on the center of sliding rail 2.21 one end of short axle and second level chain-drive mechanism 4 are sequentially connected, the other end with connect
Block 14 is fixedly connected.Link block 14 rotates under the drive of second level chain-drive mechanism 4 according to driving frequency.The both ends of short axle 21 point
It is not provided with the end cap 20 with protective effect.The exposed aerial part of short axle 21 is cased with the axle sleeve for protecting short axle
22。
As shown in figure 4, one end that sliding block 17 is contacted with curve track 2 is provided with cam bawl 19.Sliding block 17 passes through cam
Roller 19 is slided along curve track 2.The other end of sliding block 17 is provided with for pivotally connecting with the bevel edge of connecting rod 9
Pin shaft 18.Sliding block 17 is connect by pin shaft 18 with connecting rod 9.At least two are provided between sliding block 17 and link block 14 for drawing
The guide rod 16 that slider guide 17 is moved along curve track 2.The position that link block 14 is contacted at least one guide rod 16 is provided with straight line
Bearing 15.Cam bawl 19 does curvilinear motion in curve track 2, and with the difference of radius of curvature, guide rod 16 is in sliding block 17 along 2
It is moved in a straight line during curve track is mobile relative to link block 14, reduces parts depreciation, improve mechanical life.That is, even
Block 14 and driving unit is connect to connect by second level chain-drive mechanism 4 and being rotated by driving unit.Sliding block 17 passes through band
One end of dynamic connecting rod 9 moves that 8 supplemental training object of pedal is made to carry out lower limb rehabilitation training along curve track 2.
Preferably, the quantity of guide rod 16 is not limited to 2, can be 3 or more.
The front end of rack 1 is arranged in driving unit.Driving unit includes motor 6, long axis 7, primary transmission mechanism 5 and second level
Transmission mechanism 4.Link block 14 is connect by short axle 21 with one end of secondary drive mechanism 4.The other end of secondary drive mechanism 4 with
One end of long axis 7 is sequentially connected.Preferably, primary transmission mechanism 5 and secondary drive mechanism 4 are driving chain.The both ends of long axis 7
It is provided with and the matched gear mechanism of driving chain.The middle position of long axis 7 is provided with and primary transmission mechanism 5 transmission chain connect
Gear wheel mechanism.The both ends of primary transmission mechanism 5 are separately connected gear wheel mechanism and motor 6.Motor 6 is servo motor, is had
Feedback regulation function.Motor 6 provides positive and negative rotation power, and power is divided into two by second level chain-drive mechanism 4 and long axis 7 and is passed to
The linkage unit of rack two sides, accuracy are higher with transmission efficiency.The motion frequency of linkage unit by driving unit control and with
The driving frequency of driving unit is consistent.
As shown in figure 5, being provided with height-adjustable seat 13 in rack 1.One end of rack 1 is arranged in seat 13, with drive
The position of moving cell is opposite.The position of seat is arranged according to the physiological characteristic of human body, comfortably steadily sits down convenient for training object.
The cross bar of the U-shaped rack of rack 1 is provided with corresponding rubbing device as handrail 12, balances convenient for training object and stablizes limb
Body, and prevent that object is trained to make to fall since metallic rod is slided.For example, being provided with frosted glue on handrail 12
Set.Training object is sitting on seat 13, while upper limb is helped and keeps balance on handrail 12.The lower limb of training object are individually positioned in
On corresponding pedal 8, lower limb rehabilitation training is carried out according to the driving frequency of driving unit.
Sensing unit acquires physiologic information, lower extremity movement frequency, foot movement track and the run duration of training object, health
The pressure data that physiologic information, lower extremity movement frequency, foot and pedal of the multiple assessment unit based on training object generate, which is assessed, instructs
Practice the rehabilitation situation of object,
Sensing unit is for acquiring the exercise data of trained object during the motion.Exercise data includes trained object
Sole stress data, lower extremity movement frequency, run duration, physiologic information data and foot movement track.Physiologic information data packet
Include the variation of the physiological parameters such as weight, palmic rate, blood pressure, temperature pulse respiration frequency.
Sensing unit includes at least the pressure sensor being set on pedal 8, position information sensors and is set to rack 1
Armrest positions physiological information sensor.Preferably, at least one pressure sensor is provided on pedal 8.Pressure sensor
For monitoring the step stress condition of trained object.Position information sensors are used to monitor the motion track of pedal 8, to monitor
The foot movement track of training object and motion frequency.At least one physiological information sensor, including heart rate are set on handrail 12
Sensor, body temperature transducer, blood pressure sensor.Preferably, sensing unit further includes the pulse transducer being arranged on wrist strap.
Rehabilitation assessment unit is stepped on based on the physiologic information of training object by adjusting the driving frequency of driving unit to adjust
The motion frequency of plate, to make that object is trained to reach optimal rehabilitation efficacy.
Rehabilitation assessment unit both can be set in rack 1 or on handrail 12, carry out data in a wired or wireless manner
Transmission, also can be set in intelligent mobile terminal, wirelessly carries out data transmission.Rehabilitation assessment unit storage inside
Have by the foot movement track of scientific algorithm and motion frequency.When training object carries out lower limb rehabilitation training for the first time, rehabilitation
Motion frequency, foot movement track and the physiologic information data of assessment unit receiving sensing unit transmission, and by physiologic information
It is compared with Standard physiological information data corresponding with motion frequency.If physiologic information data and Standard physiological information data
Difference to the extent permitted by the error, is not then adjusted the motion frequency of training object.If physiologic information data and standard
The difference of physiologic information data is larger, and rehabilitation assessment unit sends to driving unit and instructs, and adjusts the driving frequency of motor 6, from
And the motion frequency of Indirect method training object, make motion frequency and physiologic information Data Matching, to make that object is trained to reach
The optimum efficiency of lower limb rehabilitation training.
Preferably, if training object is specific group, such as children.Rehabilitation assessment unit is based on training object station in pedal
8 pressure data, the physiologic information data point reuse of training object train the lower extremity movement frequency of object, to keep children etc. special
Group obtains lower limb rehabilitation training.
Preferably, if training object is robot.Rehabilitation assessment unit based on training object station pedal 8 number pressure
Motion frequency, height of seat are readjusted according to, foot movement track.Pedal while training object is sat on the seat
When the pressure of 8 pressure sensor monitoring disappears, it was demonstrated that the lower limb that the shortest distance of seat and pedal has exceeded trained object are long
Degree.Rehabilitation assessment unit adjusts seat 13 and the distance between handrail 12, pedal 8, until in the motion process of training object
Each data and motion frequency are adjusted to normal range (NR).
Preferably, the physiologic information data and motion frequency for the training object that rehabilitation assessment unit is acquired based on sensing unit
Assess the health condition of training object.Physiologic information data point reuse motion frequency and run duration based on training object.It is instructing
In the case that exception occur in the physiologic information data of white silk object, rehabilitation assessment unit stops supplemental training object and carries out lower limb rehabilitation
Training, and training object is reverted into standard sitting posture.Preferably, rehabilitation assessment unit includes alarm unit.In training object
Physiologic information data there is exception in the case where, alarm unit is issued in a manner of audio alarm, light alarm and/or combination
Warning information.
Preferably, rehabilitation assessment unit includes data processing unit, assessment unit and control unit.Data processing unit pair
The exercise data of sensing unit acquisition carries out valid data screening and valid data is sent to assessment unit.Assessment unit is based on
Valid data assess the physiology and rehabilitation situation of training object.Control unit is adjusted based on the assessment result of assessment unit
The motion frequency and run duration of training object.
Data processing unit carries out valid data screening to the motion-dependent data that sensing unit acquires, and valid data are sent out
It send to assessment unit.The data of each sensor acquisition of sensing unit are not entirely valid data, wherein having comprising multiple
Error information beyond error range.Data processing unit screens the data that data acquisition unit transmits, and excludes to exceed
The data of error range retain accurate valid data and are sent to assessment unit.
Assessment unit is assessed based on physical condition and head movement curve of the valid data to training object.Assessment is single
Member assesses the physical condition of training object based on received valid data.For example, if training object is during standing exercise
Palmic rate accelerates and has exceeded normal range, and assessment unit indicates that control unit reduces motion frequency, to make training pair
The palmic rate of elephant is adjusted to normal frequency.Assessment unit is stored with by the physiologic information data of scientific algorithm and matched
Motion frequency.When training object carries out lower limb rehabilitation training for the first time, assessment unit will train the physiologic information data of object
It is compared with the Standard physiological information data of storage.If the difference of physiologic information data and Standard physiological information data is in error
In the range of permission, then the motion frequency of training object is not adjusted.If physiologic information data and Standard physiological Information Number
According to difference it is larger, rehabilitation assessment unit to driving unit send instruct, adjust motor 6 driving frequency, thus Indirect method
The motion frequency of training object, makes motion frequency and physiologic information Data Matching, to make that object is trained to reach lower limb rehabilitation instruction
Experienced optimum efficiency.
Control unit is connect with driving unit and linkage unit.Control unit corrects instruction based on the assessment result of assessment unit
Practice the motion frequency of object, the position of run duration and seat 13.
Embodiment 2
The present embodiment is the further explanation to embodiment 1, and content same as Example 1 repeats no more.
As shown in fig. 6, linkage unit includes link mechanism and the sliding track mechanism that links with it.
Link mechanism includes rocking bar 10 and connecting rod 9.One end of rocking bar 10 and a vertical bar of u-bracket are with rotatable side
Formula is fixed on hinge centres F point.The other end of rocking bar 10 and one end of connecting rod 9 are pivotally connected to E point.Connecting rod 9
The other end and sliding block 17 be pivotally connected to C point.
Sliding equipment includes sliding rail 2, link block 14, sliding block 17 and what is connect with sliding block 17 move along sliding rail
Cam bawl 19.The revolute pair fixed center and link block 14 of the crank DB of sliding rail 2 is connected to A point.Sliding block 17 with it is convex
Wheel roller 19 is connected to D point.Pedal 8 and connecting rod 9 are fixedly connected on G point.With linkage unit shown in fig. 6 to the ruler of linkage unit
Very little ratio is illustrated.Using O as origin, horizontal direction is X-axis, and vertical direction is that Y-axis establishes rectangular coordinate system.Then fixed center
Point A point coordinate is (9.0000,2.8593), and F point coordinate is (7.2664,8.6082).Rocking bar length EF=2.3523cm.Connecting rod
Length DE=4.2743cm.Distance EG=5.4337cm of the end E of rocking bar 10 to pedal fixed point G.19 center of cam bawl
To foot pedal fixed point DG=1.6957cm.The plane of pedal 8 is fixed with the direction for being 85 ° with line EG angle and connecting rod 9.It is sliding
The orbit coordinate in dynamic rail road 2 includes at least nine coordinates.The orbit coordinate of sliding rail 2 is convenient for nine disclosed by the invention seats
Mark further includes that multiple can make the mobile more smoothly coordinate points between nine coordinate points of cam bawl 19.The rail of sliding rail 2
The not exigent accuracy of mark, can do rounding and fine tuning so that cam bawl 19 moved along sliding rail 2 it is more smooth.It is sliding
2 preferred nine, dynamic rail road coordinate points are as shown in table 1.
Table 1
| Coordinate serial number | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 |
| X-axis (cm) | 10.0966 | 9.8138 | 9.4072 | 9.1915 | 8.9212 | 8.6629 | 7.9973 | 7.5225 | 8.2912 |
| Y-axis (cm) | 2.6041 | 3.6807 | 4.0818 | 4.0651 | 3.8782 | 3.6400 | 3.0327 | 2.4986 | 2.4346 |
It is had differences due to not only having had approximation between the individual of training object, such as height, upper limb length and lower limb
Length there are nuance, therefore the orbit coordinate of sliding rail 2 can with orbit coordinate shown in the present invention there are nuance,
To make intelligent medical device of the invention adapt to different individuals.
Linkage unit of the invention can be zoomed in or out according to linkage unit structure equal proportion shown in fig. 6, to pacify
Meet training/needs of medical treatment of adult, children or various sizes of robot on different size of intelligent medical device.
Embodiment 3
The present embodiment is the further improvement and explanation to embodiment 1 and embodiment 2, and content same as Example 1 is not
It repeats again.
Firstly, the position of seat 13 is adjusted, including adjusting the shortest distance and height of seat between seat 13 and pedal 8,
Make that object is trained to be comfortable on.Preferably, the distance between seat 13 and pedal 8 are adjustable, and the bracket of seat 13 is with can
Mobile mode is arranged in rack 1.Preferably, it is provided at least one pressure sensor on seat 13, for monitoring training
Pressure change of the object in rehabilitation training, between buttocks and seat 13.
It is adjusted in the position of seat with behind the position of training object matching, training object is sitting on seat 13.8, pedal
In the lowermost initial position.After lower limb are placed on pedal 8 by training object, hand placement is on handrail 12.
It sits straight in training object and lower limb is placed on pedal, after hand placement is on handrail 12, click motion switch.
Motor 6 starts to start, and provides the positive and negative rotation power in certain angle.Motor 6 rotates forward, and passes through level-one chain conveyer machine
Structure 5 drives long axis 7 to rotate.Long axis 7 drives link block 14 to rotate by the second level chain-drive mechanism 4 at its both ends.14 turns of link block
It is slided under the auxiliary of cam bawl 19 along curve track 2 when dynamic by least two guide rods, 16 guide shoe 17.
Motor 7 carry out within a certain angle it is positive and negative repeat to rotate, crank mechanism 1 is in the first chain-drive mechanism 8, long axis 9, the
Two chain-drive mechanisms 10, the second chain reduction wheel 19 transmission under carry out positive and negative rotation.With the difference of radius of curvature, guide rod
16 move in a straight line during sliding block 17 is moved along curve track 2 relative to link block 14, link block 14 and guide rail 16 it
Between linear bearing 15 can reduce parts depreciation, improve mechanical life.
Sliding block 17 is connect by pin shaft 18 with connecting rod 9.Connecting rod 9 and rocking bar 10 carry out accordingly in the moving process of sliding block 17
Linkage, so that pedal 8 be made to move along the foot movement track for meeting human body structure.Preferably, the pedal in two units
For the first pedal and the second pedal.First pedal and the second pedal are moved along identical rotation direction.First pedal and second is stepped on
Plate remains opposite potential difference.For example, the first pedal and the second pedal remain the relative position of 180 degree.6 basis of motor
The motion frequency of rehabilitation assessment unit feedback adjusts driving frequency.
During training object carries out lower limb rehabilitation training for the first time, the weight of sensing unit acquisition training object,
The related datas such as blood pressure, heart rate, temperature, motion frequency, foot movement track.Specifically, when training object biped is stood respectively
Stablize after standing on pedal 8 and by handrail, the pressure sensor on pedal 8 records the weight of training object.In training
After object is sat down, the pressure sensor on pedal 8 monitors between training object and pedal 8 during training object training
Pressure change.Position information sensors on pedal monitor foot movement track and the motion frequency of training object.When foot is transported
There is deviation in dynamic rail mark, indicates that connecting portion loosening or failure occurs in the part body in linkage unit.Temperature on handrail 12
Sensor, heart rate sensor, blood pressure sensor monitor Temperature changing, changes in heart rate and the blood pressure of training object.Seat 13
On pressure sensor monitoring training object sit down after buttocks pressure change.
The data of acquisition are sent to rehabilitation assessment unit by sensing unit in a wired or wireless manner.Rehabilitation assessment unit
Including data processing unit, assessment unit and control unit.Data processing unit carries out the exercise data that sensing unit acquires
Valid data screen and valid data are sent to assessment unit.Assessment unit based on valid data to training object physiology and
Rehabilitation situation is assessed.When the motion frequency of assessment result adjusting training object of the control unit based on assessment unit and movement
Between.
Data processing unit carries out valid data screening to the motion-dependent data that sensing unit acquires, and valid data are sent out
It send to assessment unit.The data of each sensor acquisition of sensing unit are not entirely valid data, wherein having comprising multiple
Error information beyond error range.Data processing unit screens the data that data acquisition unit transmits, and excludes to exceed
The data of error range retain accurate valid data and are sent to assessment unit.
Assessment unit is assessed based on physical condition and head movement curve of the valid data to training object.Assessment is single
Member assesses the physical condition of training object based on received valid data.For example, if training object is during standing exercise
Palmic rate accelerates and has exceeded normal range, and assessment unit indicates that control unit reduces motion frequency, to make training pair
The palmic rate of elephant is adjusted to normal frequency.Assessment unit is stored with by the physiologic information data of scientific algorithm and matched
Motion frequency.When training object carries out lower limb rehabilitation training for the first time, assessment unit will train the physiologic information data of object
It is compared with the Standard physiological information data of storage.If the difference of physiologic information data and Standard physiological information data is in error
In the range of permission, then the motion frequency of training object is not adjusted.If physiologic information data and Standard physiological Information Number
According to difference it is larger, rehabilitation assessment unit to driving unit send instruct, adjust motor 6 driving frequency, thus Indirect method
The motion frequency of training object, makes motion frequency and physiologic information Data Matching, to make that object is trained to reach lower limb rehabilitation instruction
Experienced optimum efficiency.
Control unit is connect with driving unit and linkage unit.Control unit corrects instruction based on the assessment result of assessment unit
Practice the motion frequency of object, the position of run duration and seat 13.
Preferably, rehabilitation assessment unit is electronic module, be can be set on any position of rack 1.Preferably, rehabilitation
Data processing unit, assessment unit in assessment unit are arranged on intelligent mobile terminal, and control unit is arranged in rack 1
Any position.The data of acquisition are wirelessly sent to the data processing list of intelligent mobile terminal by data acquisition unit
In member.For example, data acquisition unit sends data to data with the wireless transmission methods such as bluetooth, WiFi, ZigBee, iBecon
Processing unit.Assessment unit 502 is assessed based on the valid data that data processing unit is sent, and by regulating command with nothing
The mode of line is sent to control unit.For example, assessment unit will with the wireless transmission methods such as bluetooth, WiFi, ZigBee, iBecon
Data are sent to control unit.
Pressure sensor, temperature sensor, sensing heart rate according to a preferred embodiment, in data acquisition unit
The EnOcean module for being provided with the energy is arranged in device, blood pressure sensor, respiratory frequen.EnOcean module will training object
Thermal energy, mechanical energy be converted into electric energy, provide the energy for sensor.
It should be noted that above-mentioned specific embodiment is exemplary, those skilled in the art can disclose in the present invention
Various solutions are found out under the inspiration of content, and these solutions also belong to disclosure of the invention range and fall into this hair
Within bright protection scope.It will be understood by those skilled in the art that description of the invention and its attached drawing are illustrative and are not
Constitute limitations on claims.Protection scope of the present invention is defined by the claims and their equivalents.
Claims (9)
1. a kind of intelligent rehabilitation medical device, described device includes the driving unit being arranged on the rack, linkage unit, sensing list
Member and rehabilitation assessment unit, which is characterized in that the linkage unit includes link mechanism and the cunning with link mechanism linkage
Rail mechanism, the sliding track mechanism slide under the driving of the driving unit along curve track, described in the link mechanism cooperation
Sliding track mechanism links and is moved to corresponding position, so that sliding track mechanism supplemental training object is made to carry out lower limb rehabilitation training, it is described
The physiologic information and motion information for the trained object that rehabilitation assessment unit is acquired based on the sensing unit assess the instruction
Practice the physical condition and rehabilitation situation of object, and adjusts the motion frequency of the trained object in real time according to the physical condition
And run duration；Wherein, the sliding track mechanism includes sliding block (17), guide rod (16), link block (14) and curve track (2), institute
Link block (14) is stated to connect with the driving unit by second level chain-drive mechanism (4) and turn under the driving of the driving unit
It is dynamic, at least two are provided between the sliding block (17) and the link block (14) for guiding the sliding block (17) along the song
The mobile guide rod (16) of trajectory (2)；The sliding block (17) is by driving the one end of connecting rod (9) to transport along the curve track (2)
It moves to make pedal (8) supplemental training object carry out lower limb rehabilitation training.
2. intelligent rehabilitation medical device as described in claim 1, which is characterized in that the link mechanism include rocking bar (10) and
Connecting rod (9), the connecting rod (9) are arranged between the rocking bar (10) and the sliding block (17) with rotatable connection type, institute
Stating connecting rod (9) is ladder structure of right angle, and the bevel edge both ends in right-angled trapezium are provided with the pedal trampled convenient for the trained object
(8), the sliding block (17) makes the pedal (8) by driving one end of the connecting rod (9) to move along the curve track (2)
Supplemental training object carries out lower limb rehabilitation training.
3. intelligent rehabilitation medical device as claimed in claim 2, which is characterized in that the link block (14) and at least one institute
The position for stating guide rod (16) contact is provided with linear bearing (15), and the guide rod (16) is in the sliding block (17) along the curve rail
It is moved in a straight line during road (2) is mobile relative to the link block (14).
4. intelligent rehabilitation medical device as claimed in claim 3, which is characterized in that the fixed point of the pedal (8) is by extremely
Few two connecting rods connect to form stable triangular structure with the both ends of the connecting rod (9)；First connecting rod (EG)
One end is pivotally connect jointly with the connecting rod (9) and the rocking bar (10), and the other end is consolidated with the pedal (8)
Fixed point connection；One end of second connecting rod (DG) pivotally connects jointly with the connecting rod (9) and the sliding block (17)
It connects, the other end is connect with the fixed point of the pedal (8)；The first connecting rod (EG), second connecting rod (DG) and institute
The length ratio for stating connecting rod (9) is 5.4337:1.6957:4.2743；The first connecting rod (EG) is flat with the pedal (8)
The angle in face is 85 degree.
5. intelligent rehabilitation medical device as claimed in claim 4, which is characterized in that institute is symmetrically arranged in the linkage unit
It states the both ends of rack and is connect by symmetrically arranged second level chain-drive mechanism (4) with the driving unit, the driving unit
In driving device (6) drive long axis (7) rotation by level-one chain-drive mechanism (5), wherein long axis (7) is by its both ends
Gear connect respectively with second level chain-drive mechanism (4), thus make the linkage unit according to the driving unit driving frequency
Rate linkage.
6. intelligent rehabilitation medical device as claimed in claim 5, which is characterized in that the center of the curve track (2)
It is provided with the short axle (21) through curve track baffle, short axle (21) one end and the second level chain-drive mechanism (4) are sequentially connected,
The other end is connect with the link block (14), the link block (14) under the drive of the second level chain-drive mechanism (4) according to
Driving frequency rotation.
7. the intelligent rehabilitation medical device as described in one of preceding claims, which is characterized in that the sensing unit acquires institute
Physiologic information, lower extremity movement frequency, foot movement track and the run duration of trained object are stated, the rehabilitation assessment unit is based on
The pressure data that physiologic information, lower extremity movement frequency, foot and the pedal (8) of the trained object generate assesses the training pair
The rehabilitation situation of elephant, physiologic information of the rehabilitation assessment unit based on the trained object is by adjusting the driving unit
Driving frequency adjusts the motion frequencies of the pedal (8).
8. intelligent rehabilitation medical device as claimed in claim 7, which is characterized in that the sensing unit is included at least and is set to
Pressure sensor, position information sensors on the pedal (8) and be set to the rack handrail (12) position physiology
Information sensor.
9. intelligent rehabilitation medical device as claimed in claim 7, which is characterized in that the rehabilitation assessment unit includes at data
Reason unit, assessment unit and control unit, the exercise data that the data processing unit acquires the sensing unit have
Valid data are simultaneously sent to the assessment unit by effect data screening, and the assessment unit is based on valid data to the training pair
The physiology and rehabilitation situation of elephant are assessed, and described control unit adjusts the training based on the assessment result of the assessment unit
The motion frequency and run duration of object.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811654367.XA CN109700628B (en) | 2016-11-17 | 2016-11-17 | A lower limb rehabilitation training device based on rehabilitation assessment |
| CN201611026826.0A CN106491310B (en) | 2016-11-17 | 2016-11-17 | An intelligent rehabilitation medical device |
| US15/815,554 US11065170B2 (en) | 2016-11-17 | 2017-11-16 | Smart medical rehabilitation device |
| US17/304,760 US12029697B2 (en) | 2016-11-17 | 2021-06-25 | Rehabilitation training system |
| US17/304,756 US11872174B2 (en) | 2016-11-17 | 2021-06-25 | Method for performing lower limb rehabilitation training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611026826.0A CN106491310B (en) | 2016-11-17 | 2016-11-17 | An intelligent rehabilitation medical device |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811654367.XA Division CN109700628B (en) | 2016-11-17 | 2016-11-17 | A lower limb rehabilitation training device based on rehabilitation assessment |
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| Publication Number | Publication Date |
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| CN106491310A CN106491310A (en) | 2017-03-15 |
| CN106491310B true CN106491310B (en) | 2019-02-05 |
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| CN201611026826.0A Expired - Fee Related CN106491310B (en) | 2016-11-17 | 2016-11-17 | An intelligent rehabilitation medical device |
| CN201811654367.XA Expired - Fee Related CN109700628B (en) | 2016-11-17 | 2016-11-17 | A lower limb rehabilitation training device based on rehabilitation assessment |
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| CN201811654367.XA Expired - Fee Related CN109700628B (en) | 2016-11-17 | 2016-11-17 | A lower limb rehabilitation training device based on rehabilitation assessment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106491310B (en) * | 2016-11-17 | 2019-02-05 | 合肥工业大学 | An intelligent rehabilitation medical device |
| CN107049702A (en) * | 2017-03-29 | 2017-08-18 | 东南大学 | A kind of lower limbs rehabilitation training robot system based on virtual reality |
| CN107095517A (en) * | 2017-05-25 | 2017-08-29 | 王志强 | Remote health monitoring system based on intelligent bed |
| CN110801372A (en) * | 2019-12-11 | 2020-02-18 | 上海司羿智能科技有限公司 | Finger joint rehabilitation training device |
| CN111202655A (en) * | 2020-01-20 | 2020-05-29 | 安阳工学院 | A lower limb training device with a computer display screen showing the height of a lifting platform |
| CN112155937A (en) * | 2020-09-11 | 2021-01-01 | 上海盛越科技有限公司 | Intelligent foot passive movement traditional Chinese medicine physiotherapy device |
| CN113101137B (en) * | 2021-04-06 | 2023-06-02 | 合肥工业大学 | A robot for upper limb rehabilitation based on motion mapping and virtual reality |
| CN115634416A (en) * | 2022-10-20 | 2023-01-24 | 橙象医疗科技（广州）有限公司 | Respiration monitoring device and respiration monitoring method of lower limb rehabilitation robot |
| CN119818930B (en) * | 2024-12-17 | 2025-07-18 | 中国人民解放军总医院第四医学中心 | Fusion feedback processing device and method for lower limb rehabilitation training |
| CN119818929B (en) * | 2024-12-17 | 2025-08-19 | 中国人民解放军总医院第四医学中心 | Haptic information feedback processing device and method for upper limb rehabilitation training |
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| CN109700628A (en) | 2019-05-03 |
| CN109700628B (en) | 2021-04-06 |
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