CN109224386A - Rehabilitation walking aid chair - Google Patents
Rehabilitation walking aid chair Download PDFInfo
- Publication number
- CN109224386A CN109224386A CN201811274491.3A CN201811274491A CN109224386A CN 109224386 A CN109224386 A CN 109224386A CN 201811274491 A CN201811274491 A CN 201811274491A CN 109224386 A CN109224386 A CN 109224386A
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- cloth
- cantilever
- walking aid
- fixed
- chassis
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
- A63B23/10—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs for feet or toes
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- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
本发明公开了一种康复助行椅，包括前底架（1），前底架（1）连接有后底架（2），前底架（1）上设有两个斜杆（9），两个斜杆（9）的顶端连接有防护杆（8），防护杆（8）的内侧设有柱形铰接件（15），柱形铰接件（15）的下端设有固定板（3），固定板（3）的底端固定在前底架（1）上，前底架（1）和后底架（2）的底部均设有万向轮（4）；所述的柱形铰接件（15）的内侧设有腰部束缚布（14），柱形铰接件（15）的底部设有助力机构（17）；所述的防护杆（8）内侧还设有拉绳（7），拉绳（7）连接有胯部束缚布（6）。本发明能满足脚部神经受损严重患者的需求，并且可以根据患者恢复情况调整训练方式，灵活性强且成本低。
The invention discloses a rehabilitation walking chair, comprising a front chassis (1), a rear chassis (2) connected to the front chassis (1), and two inclined rods (9) arranged on the front chassis (1). , the top ends of the two inclined rods (9) are connected with a protective rod (8), the inner side of the protective rod (8) is provided with a cylindrical hinge (15), and the lower end of the cylindrical hinge (15) is provided with a fixed plate (3). ), the bottom end of the fixing plate (3) is fixed on the front chassis (1), and the bottoms of the front chassis (1) and the rear chassis (2) are provided with universal wheels (4); The inner side of the hinge (15) is provided with a waist restraint cloth (14), the bottom of the cylindrical hinge (15) is provided with a power assist mechanism (17); the inner side of the protection rod (8) is also provided with a pull rope (7) , the pull rope (7) is connected with the crotch restraint cloth (6). The invention can meet the needs of patients with severe nerve damage in the feet, and can adjust the training mode according to the recovery conditions of the patients, with high flexibility and low cost.
Description
Technical field
The present invention relates to field of medical auxiliary equipment, especially a kind of rehabilitation walking aid chair.
Background technique
Walking aid chair is the equipment of limb rehabilitation training after lower limb skeletons rehabilitation training and neurosurgery operation, be support and it is auxiliary
Patient is helped to carry out the capital equipment of ambulation training.Current walking aid chair structure mostly uses greatly double Rubber ends to add the bottoms of double universal wheels
Supporting way is applicable in Most patients and uses, and a small number of walking aid chair structures use the bottom supporting way of four universal wheels.But mesh
Preceding walking aid chair does not still meet the demand of some serious patients of foot's nerve damage, and also needs to restore feelings according to patient
Condition replaces different walking aid chairs, and flexibility is not strong and at high cost.
Summary of the invention
The object of the present invention is to provide a kind of rehabilitation walking aid chairs.The present invention is able to satisfy foot's nerve damage severe patient
Demand, and can be according to patient's recovery situation adjusting training mode, strong flexibility and at low cost.
Technical solution of the present invention: rehabilitation walking aid chair, including preceding chassis, preceding chassis are connected with rear chassis, set on preceding chassis
There are two brace, the top of two braces is connected with fender rod, and the inside of fender rod is equipped with cylindricality articulation piece, cylindricality articulation piece
Lower end is equipped with fixed plate, before the bottom end of fixed plate is fixed on chassis；The bottom of the preceding chassis and rear chassis is equipped with ten thousand
To wheel；The inside of the cylindricality articulation piece is equipped with restraining waist part cloth, and the bottom of cylindricality articulation piece is equipped with servomechanism；Described
Drawstring is additionally provided on the inside of fender rod, drawstring is connected with crotch's constraint cloth.
In rehabilitation walking aid chair above-mentioned, the servomechanism includes the first stepper motor being arranged on the inside of fixed plate,
The motor shaft of first stepper motor is connected with the first retarder, and the output end of the first retarder is connected with the first cursor, and first
The end of cursor is equipped with the first protrusion, and the first protrusion is equipped with first annular groove；The bottom of the cylindricality articulation piece is set
There is the first cantilever, the first cantilever is equipped with the first slide opening matched with first annular groove；The inside of first cantilever
Equipped with the first fixed frame, the first fixed frame is equipped with the first constraint cloth；It is additionally provided with second stepper motor on the inside of the fixed plate,
The motor shaft of second stepper motor is connected with the second retarder, and the output end of the second retarder is connected with the second cursor, and second
The end of cursor is equipped with the second protrusion, and the second protrusion is equipped with second annular groove；The bottom end of first cantilever is equipped with the
Two articulation pieces, the second articulation piece bottom are equipped with the second cantilever, and the second cantilever is equipped with second matched with second annular groove
Slide opening；The inside of second cantilever is equipped with the second fixed frame, and the second fixed frame is equipped with the second constraint cloth；Described second is outstanding
The bottom of arm is equipped with pedal.
In rehabilitation walking aid chair above-mentioned, the side of the first constraint cloth and the side of the second constraint cloth are equipped with round hair
The other side of face, the other side of the first constraint cloth and the second constraint cloth is equipped with the seta face matched with circle hair side.
In rehabilitation walking aid chair above-mentioned, the bottom end of second cantilever is set there are two stock, and two stocks, which are equipped with, to be slided
Block, the end of two stocks are respectively equipped with a limited block, are respectively equipped with first spring on the outside of two stocks, and described
One end of one spring is connected with the bottom end of the second cantilever, and the other end of the first spring is connected with the top of sliding block；The sliding block
Between pedal be equipped be rotatably connected bar, be rotatably connected bar outside be equipped with second spring, one end of second spring with step on
Plate is connected, and the other end of second spring is connected with sliding block.
In rehabilitation walking aid chair above-mentioned, the bottom of the pedal is equipped with non-slip mat.
In rehabilitation walking aid chair above-mentioned, the fender rod is equipped with two pairs of stabilizations and grabs bar, and four stabilizations are grabbed to be all provided on bar
There is Anti-slip cover.
It is equipped with fixed cloth in rehabilitation walking aid chair above-mentioned, on the inside of the fender rod, is equipped with card between fixed cloth and drawstring
Button.
In rehabilitation walking aid chair above-mentioned, the middle part of the brace is equipped with hydraulic damping buffer, hydraulic damping buffer
Bottom be fixed on rear chassis.
Compared with prior art, the inside of fender rod of the invention is equipped with cylindricality articulation piece, sets on the inside of cylindricality articulation piece
There is restraining waist part cloth, restraining waist part cloth can will stablize the upper part of the body of patient, and the bottom of cylindricality articulation piece is equipped with servomechanism, helps
Force mechanisms can help the serious patient's foot-up of foot's nerve damage.Drawstring, drawstring connection are additionally provided on the inside of fender rod of the invention
There is crotch to fetter cloth, the preferable patient of foot's nerve recovery crotch's constraint cloth can be used to carry out the firm of body, move foot on one's own account
Foot's training is carried out, has the function of phasic Chang rehabilitation training, does not need to replace different rehabilitation walking aid chairs, it is adaptable
And save the cost.
First in servomechanism of the present invention, which fetters cloth, has the function of fixing and supporting thigh, and the second constraint cloth has solid
Fixed and support shank effect.The side of first constraint cloth and the side of the second constraint cloth are equipped with round hair side, the first constraint cloth
The other side and the second constraint cloth the other side be equipped with the seta face that matches of circle hair side, pass through and justify hair side and seta face phase
Cooperation can have the function that the tightness and the fixation that adjust the first constraint cloth and the second constraint cloth.
The bottom end of second cantilever of the invention is set there are two stock, and two stocks are equipped with sliding block, the end of two stocks
It is respectively equipped with a limited block, first spring is respectively equipped on the outside of two stocks, the purpose of this design is to adjust to help
The length of force mechanisms adapts to the patient of different heights.It is equipped between the sliding block and pedal and is rotatably connected bar, rotatable company
The outside of extension bar is equipped with second spring, and one end of second spring is connected with pedal, and the other end of second spring is connected with sliding block, this
Kind of design has the function of capable of making pedal cooperation ankle arthrosis flexible rotating, and ankle arthrosis is ossified when preventing foot-up.
The bottom of pedal of the invention is equipped with non-slip mat, can increase the frictional force between pedal and ground, prevent from stepping down in and step on
It breaks away when walking on plate.
It is equipped with fixed cloth on the inside of fender rod of the invention, is equipped with buckle between fixed cloth and drawstring, it can be square by buckle
Just disassembly crotch fetters cloth, so that patient is put on and slough crotch's constraint cloth more convenient laborsaving.
The middle part of brace of the invention is equipped with hydraulic damping buffer, and the bottom of hydraulic damping buffer is fixed on rear chassis
On.The purpose that hydraulic damping buffer is arranged herein is the support strength for increasing brace, and enhances integrally-built stability.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is side structure schematic diagram of the invention；
Fig. 3 is the structural schematic diagram of servomechanism；
Fig. 4 is main view of the invention.
The label in accompanying drawing is: chassis before 1-, chassis after 2-, 3- fixed plate, 4- universal wheel, 5- hydraulic damping buffer,
6- crotch fetters cloth, and 7- drawstring, 8- fender rod, 9- brace, 10- Anti-slip cover, 11-, which stablizes, grabs bar, 12- buckle, the fixed cloth of 13-,
14- restraining waist part cloth, 15- cylindricality articulation piece, 16- first fetter cloth, 17- servomechanism, and 18- second fetters cloth, 19- circle hair
Face, 20- seta face, the first cantilever of 21-, the first protrusion of 22-, 23- first annular groove, the first stepper motor of 24-, 25- first
Retarder, the first slide opening of 26-, the first fixed frame of 27-, the second articulation piece of 28-, the second cantilever of 29-, the second slide opening of 30-, 31-
Two stepping motor, the second retarder of 32-, the second cursor of 33-, 34- second annular groove, the second protrusion of 35-, 36- second are solid
Determine frame, 37- stock, the first spring of 38-, 39- limited block, 40- sliding block, 41- non-slip mat, 42- pedal, the first cursor of 43-,
44- second spring, 45- are rotatably connected bar.
Specific embodiment
Below with reference to embodiment, the invention will be further described, but is not intended as the foundation limited the present invention.
Embodiment: rehabilitation walking aid chair is constituted as shown in attached drawing 1-4, including preceding chassis 1, preceding chassis 1 are connected with rear chassis 2,
Stainless steel tube can be used in preceding chassis 1 and rear chassis 2, is set on preceding chassis 1 there are two brace 9, the middle part of two braces 9 is respectively equipped with
One hydraulic damping buffer 5, the bottom of two hydraulic damping buffers 5 are fixed on rear chassis 2.Hydraulic damping is set herein
The purpose of buffer 5 is the support strength for increasing brace 9, and enhances integrally-built stability.The top of two braces 9 connects
It is connected to fender rod 8, fender rod 8 is equipped with two pairs of stabilizations and grabs bar 11, and four stabilizations, which are grabbed, is equipped with Anti-slip cover 10, Huan Zhe on bar 11
Stable bar 11 of grabbing is stressed on both hands when walking to keep one's balance, and is grabbed setting Anti-slip cover 10 on bar 11 in stabilization and is avoided that trained mistake
Rubber sleeve in journey.The inside of fender rod 8 is equipped with cylindricality articulation piece 15, and the lower end of cylindricality articulation piece 15 is equipped with fixed plate 3, fixed plate 3
Bottom end be fixed on before on chassis 1.The bottom of the preceding chassis 1 and rear chassis 2 is equipped with universal wheel 4.The cylindricality hinge
The inside of fitting 15 is equipped with restraining waist part cloth 14, and restraining waist part cloth 14 can will stablize the upper part of the body of patient, cylindricality articulation piece 15
Bottom be equipped with servomechanism 17.Fixed cloth 13 is equipped on the inside of the fender rod 8, fixed cloth 13 is through buckle 12 and 7 phase of drawstring
Even, drawstring 7 is connected with crotch's constraint cloth 6.Crotch's constraint cloth 6 can be used to carry out the steady of body for the preferable patient of foot's nerve recovery
Gu moving foot on one's own account carries out foot's training, by buckle 12 can crotch easy to disassemble fetter cloth 6, so that patient is put on and is sloughed
It is more convenient laborsaving that crotch fetters cloth 6.
The servomechanism 17 includes the first stepper motor 24 that 3 inside of fixed plate is arranged in, the first stepper motor 24
Motor shaft be connected with the first retarder 25, slowed down by the first retarder 25 to the first stepper motor 24 and increase torsion
Square, the output end of the first retarder 25 are connected with the first cursor 43, and the end of the first cursor 43 is equipped with the first protrusion 22, the
One protrusion 22 is equipped with first annular groove 23.The bottom of the cylindricality articulation piece 15 is equipped with the first cantilever 21, the first cantilever
21 are equipped with the first slide opening 26 matched with first annular groove 23.It is fixed that the inside of first cantilever 21 is equipped with first
Frame 27, the first fixed frame 27 are equipped with the first constraint cloth 16, and the first constraint cloth 16 has the function of fixing and supporting thigh.It is described
Fixed plate 3 on the inside of be additionally provided with second stepper motor 31, the motor shaft of second stepper motor 31 is connected with the second retarder 32,
The output end of two retarders 32 is connected with the second cursor 33, and the end of the second cursor 33 is equipped with the second protrusion 35, and second is convex
It plays 35 and is equipped with second annular groove 34.The bottom end of first cantilever 21 is equipped with the second articulation piece 28,28 bottom of the second articulation piece
Portion is equipped with the second cantilever 29, and the second cantilever 29 is equipped with the second slide opening 30 matched with second annular groove 34.Described
The inside of two cantilevers 29 is equipped with the second fixed frame 36, and the second fixed frame 36 is equipped with the second constraint cloth 18, and the second constraint cloth 18 has
Fix and support shank.The side of the first constraint cloth 16 and the side of the second constraint cloth 18 are equipped with round hair
The other side of face 19, the other side of the first constraint cloth 16 and the second constraint cloth 18 is equipped with the seta face matched with circle hair side 19
20, the elastic journey for adjusting the first constraint cloth 16 and the second constraint cloth 18 can be reached by being matched by circle hair side 19 with seta face 20
Degree and fixed effect.The bottom end of second cantilever 29 is set there are two stock 37, and two stocks 37 are equipped with sliding block 40,
The end of two stocks 37 is respectively equipped with a limited block 39, and the outside of two stocks 37 is respectively equipped with first spring 38,
The purpose of this design is to adjust the length of servomechanism 17, adapts to the patient of different heights.One end of first spring 38
It is connected with the bottom end of the second cantilever 29, the other end of the first spring 38 is connected with the top of sliding block 40.The sliding block 40 with step on
Between plate 42 be equipped be rotatably connected bar 45, be rotatably connected bar 45 outside be equipped with second spring 44, the one of second spring 44
End is connected with pedal 42, and the bottom of pedal 42 is equipped with non-slip mat 41, can increase the frictional force between pedal 42 and ground, prevent from stepping on
It breaks away when walking on pedal 42, the other end of second spring 44 is connected with sliding block 40.It is this design have can make pedal
The function of 42 cooperation ankle arthrosis flexible rotatings, ankle arthrosis is ossified when preventing foot-up.
Working principle: when foot's nerve damage of patient is serious, 17 supplemental training limb motion of servomechanism can be used.
The rotation of the first cursor 43 is driven by the first stepper motor 24, the end of the first cursor 43 is equipped with the first protrusion 22, and first
Protrusion 22 is equipped with first annular groove 23, and first annular groove 23 moves in the first slide opening 26 of the first cantilever 21, in turn
It drives the first cantilever 21 to do pendular movement, and is equipped with the first constraint cloth 16 on the inside of the first cantilever 21, the first constraint cloth 16 can
Thigh is fixed and supported, to realize the function that auxiliary thigh is swung.The second cursor 33 is driven by second stepper motor 31
Rotation, the end of the second cursor 33 are equipped with the second protrusion 35, and the second protrusion 35 is equipped with second annular groove 34, the second annular
Groove 34 moves in the second slide opening 30 of the second cantilever 29, and then drives the second cantilever 29 to do pendular movement, and second is outstanding
The second constraint cloth 18 is equipped on the inside of arm 29, the second constraint cloth 18 is capable of fixing and supports shank, to realize that auxiliary shank is swung
Function.The bottom end of second cantilever 29 is set there are two stock 37, and two stocks 37 are equipped with sliding block 40, the end of two stocks 37
It is respectively equipped with a limited block 39, the outside of two stocks 37 is respectively equipped with first spring 38, can adjust by this structure
The length for saving servomechanism 17, adapts to the patient of different heights.
After the step nerve recovery of patient is in good condition, servomechanism 17 can not used and carry out rehabilitation training, at this time
By crotch constraint cloth 6 be mounted in, with 12 clampings are buckled, stress on both hands it is stable grab bar 11, on one's own account move foot carry out foot
Training.It can be seen that the present invention has the function of phasic Chang rehabilitation training, do not need to replace different rehabilitation walking aid chairs,
Adaptable and save the cost.
Claims (8)
1. rehabilitation walking aid chair, it is characterised in that: including preceding chassis (1), preceding chassis (1) is connected with rear chassis (2), preceding chassis (1)
On set there are two brace (9), the top of two braces (9) is connected with fender rod (8), and the inside of fender rod (8) is equipped with cylindricality hinge
The lower end of fitting (15), cylindricality articulation piece (15) is equipped with fixed plate (3), and the bottom end of fixed plate (3) is fixed on preceding chassis (1)；
The bottom of the preceding chassis (1) and rear chassis (2) is equipped with universal wheel (4)；It is set on the inside of the cylindricality articulation piece (15)
Have restraining waist part cloth (14), the bottom of cylindricality articulation piece (15) is equipped with servomechanism (17)；It is also set on the inside of the fender rod (8)
Have drawstring (7), drawstring (7) is connected with crotch's constraint cloth (6).
2. rehabilitation walking aid chair according to claim 1, it is characterised in that: the servomechanism (17) includes setting solid
The first stepper motor (24) on the inside of fixed board (3), the motor shaft of the first stepper motor (24) are connected with the first retarder (25), the
The output end of one speed reducer (25) is connected with the first cursor (43), and the end of the first cursor (43) is equipped with the first protrusion
(22), first raised (22) are equipped with first annular groove (23)；It is outstanding that the bottom of the cylindricality articulation piece (15) is equipped with first
Arm (21), the first cantilever (21) are equipped with the first slide opening (26) matched with first annular groove (23)；Described first is outstanding
The inside of arm (21) is equipped with the first fixed frame (27), and the first fixed frame (27) is equipped with the first constraint cloth (16)；The fixation
It being additionally provided with second stepper motor (31) on the inside of plate (3), the motor shaft of second stepper motor (31) is connected with the second retarder (32),
The output end of second retarder (32) is connected with the second cursor (33), and the end of the second cursor (33) is equipped with the second protrusion
(35), second raised (35) are equipped with second annular groove (34)；The bottom end of first cantilever (21) is equipped with the second articulation piece
(28), the second articulation piece (28) bottom is equipped with the second cantilever (29), and the second cantilever (29) is equipped with and second annular groove (34)
The second slide opening (30) matched；The inside of second cantilever (29) is equipped with the second fixed frame (36), the second fixed frame
(36) it is equipped with the second constraint cloth (18)；The bottom of second cantilever (29) is equipped with pedal (42).
3. rehabilitation walking aid chair according to claim 2, it is characterised in that: the side of described first constraint cloth (16) and the
The side of two constraints cloth (18) is equipped with round hair side (19), and the other side of the first constraint cloth (16) and second fetters the another of cloth (18)
Side is equipped with the seta face (20) matched with circle hair side (19).
4. rehabilitation walking aid chair according to claim 2, it is characterised in that: the bottom end of second cantilever (29) is equipped with two
A stock (37), two stocks (37) are equipped with sliding block (40), and the end of two stocks (37) is respectively equipped with a limited block
(39), first spring (38), one end and second of first spring (38) are respectively equipped on the outside of two stocks (37)
The bottom end of cantilever (29) is connected, and the other end of the first spring (38) is connected with the top of sliding block (40)；The sliding block (40) with
It being equipped between pedal (42) and is rotatably connected bar (45), the outside for being rotatably connected bar (45) is equipped with second spring (44), and second
One end of spring (44) is connected with pedal (42), and the other end of second spring (44) is connected with sliding block (40).
5. rehabilitation walking aid chair according to claim 2, it is characterised in that: the bottom of the pedal (42) is equipped with non-slip mat
(41).
6. rehabilitation walking aid chair according to claim 1, it is characterised in that: the fender rod (8) is equipped with two pairs of stabilizations
It grabs bar (11), four stabilizations, which are grabbed, is equipped with Anti-slip cover (10) on bar (11).
7. rehabilitation walking aid chair according to claim 1, it is characterised in that: be equipped with fixed cloth on the inside of the fender rod (8)
(13), buckle (12) is equipped between fixed cloth (13) and drawstring (7).
8. rehabilitation walking aid chair according to claim 1, it is characterised in that: the middle part of the brace (9) is equipped with hydraulic resistance
Buddhist nun's buffer (5), the bottom of hydraulic damping buffer (5) are fixed on rear chassis (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811274491.3A CN109224386B (en) | 2018-10-30 | 2018-10-30 | Rehabilitation walking-aid chair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811274491.3A CN109224386B (en) | 2018-10-30 | 2018-10-30 | Rehabilitation walking-aid chair |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109224386A true CN109224386A (en) | 2019-01-18 |
| CN109224386B CN109224386B (en) | 2020-04-03 |
Family
ID=65079246
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811274491.3A Active CN109224386B (en) | 2018-10-30 | 2018-10-30 | Rehabilitation walking-aid chair |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109224386B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101754739A (en) * | 2007-05-28 | 2010-06-23 | 法特尼克基金会 | Device for balance and body orientation support |
| US7938756B2 (en) * | 2007-02-10 | 2011-05-10 | Roy Rodetsky | Powered mobile lifting, gait training and omnidirectional rolling apparatus and method |
| CN105326628A (en) * | 2015-11-16 | 2016-02-17 | 合肥工业大学 | Lower limb rehabilitation power-assisted mechanism employing external balance support |
| CN105456004A (en) * | 2015-12-28 | 2016-04-06 | 中国科学院自动化研究所 | Exoskeleton type moving and walking rehabilitation training device and method |
| CN207323683U (en) * | 2017-03-13 | 2018-05-08 | 成功 | A kind of limbs walking function recovery device |
-
2018
- 2018-10-30 CN CN201811274491.3A patent/CN109224386B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7938756B2 (en) * | 2007-02-10 | 2011-05-10 | Roy Rodetsky | Powered mobile lifting, gait training and omnidirectional rolling apparatus and method |
| CN101754739A (en) * | 2007-05-28 | 2010-06-23 | 法特尼克基金会 | Device for balance and body orientation support |
| CN105326628A (en) * | 2015-11-16 | 2016-02-17 | 合肥工业大学 | Lower limb rehabilitation power-assisted mechanism employing external balance support |
| CN105456004A (en) * | 2015-12-28 | 2016-04-06 | 中国科学院自动化研究所 | Exoskeleton type moving and walking rehabilitation training device and method |
| CN207323683U (en) * | 2017-03-13 | 2018-05-08 | 成功 | A kind of limbs walking function recovery device |
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| Publication number | Publication date |
|---|---|
| CN109224386B (en) | 2020-04-03 |
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