CN109820695A - A ICU ward horizontal bilateral cerebral palsy lower extremity rehabilitation robot with communication and autonomous navigation and movement functions - Google Patents

A ICU ward horizontal bilateral cerebral palsy lower extremity rehabilitation robot with communication and autonomous navigation and movement functions Download PDF

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Publication number
CN109820695A
CN109820695A CN201910267746.1A CN201910267746A CN109820695A CN 109820695 A CN109820695 A CN 109820695A CN 201910267746 A CN201910267746 A CN 201910267746A CN 109820695 A CN109820695 A CN 109820695A
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robot
rehabilitation
patient
module
data
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任海川
段航琪
李嘉
刘艳红
孙翔宇
麻晓东
刘青林
闫家玉
张静
张冰涛
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Zhengzhou University
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Zhengzhou University
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Abstract

本发明公开了一种具有通信和自主导航移动功能的ICU病房卧式双侧脑瘫下肢康复机器人，其结构包括下肢康复外骨骼、人体体征数据采集模块、数据处理模块、人机交互模块、运动控制模块和自主导航移动底盘，可实现双下肢各关节的评测及协调康复训练；数据采集模块采集下肢各关节的运动与生理数据，发送给数据处理模块，数据处理模块给出患者康复评测结果及相关运动数据，上传至云平台，云平台通过聚类分析生成个性化治疗方案；人机交互模块发送指令给运动控制模块，控制下肢外骨骼，引导病人进行康复训练；自主导航移动底盘采用麦克纳姆轮设计，通过GPS、视觉和激光导航相结合实现室内外导航，采用超声波检测实现避障，提高机器人的自主移动能力。

The invention discloses an ICU ward horizontal bilateral cerebral palsy lower extremity rehabilitation robot with communication and autonomous navigation and movement functions. The module and the autonomous navigation mobile chassis can realize the evaluation and coordinated rehabilitation training of each joint of the lower limbs; the data acquisition module collects the motion and physiological data of each joint of the lower limbs, and sends it to the data processing module. The data processing module gives the patient's rehabilitation evaluation results and related The motion data is uploaded to the cloud platform, and the cloud platform generates a personalized treatment plan through cluster analysis; the human-computer interaction module sends instructions to the motion control module to control the lower extremity exoskeleton and guide the patient to perform rehabilitation training; the autonomous navigation mobile chassis adopts Mecanum Wheel design, realize indoor and outdoor navigation through the combination of GPS, vision and laser navigation, use ultrasonic detection to avoid obstacles, and improve the autonomous mobility of the robot.

Description

A kind of horizontal bilateral brain paralysis in the ward ICU with communication and independent navigation locomotive function Lower limb rehabilitation robot
Technical field
The invention belongs to medical rehabilitation clothing arts, and in particular under a kind of bilateral brain paralysis patient for intensive care unit Rehabilitation training is evaluated and tested for realizing Intensive Care Unit patient's double lower limb rehabilitation and coordinated to limb healing robot.
Background technique
If medical science of recovery therapy is studies have shown that bilateral brain paralysis or lower limb body injured patient will lead to muscle without training for a long time " expense " atrophy and be difficult to fully recover, therefore after Intensive Care Unit (ICU) patient body sign is steady after surgery, should use up It is early to carry out limb rehabilitation training, facilitate it and restores limbs normal function.
The object of rehabilitation is unable to complete independently lower limb rehabilitation training, therefore, often due to suffering from brain paralysis or lower extremity injury It needs that there is the medical staff of certain nursing knowledge to carry out auxiliary rehabilitation exercise to patient, but rehabilitation is a progressive mistake Journey, required repeated workload is very big, carries out human assistance rehabilitation using professional, consumes very big manpower and financial resources； When more importantly medical staff is trained patient, training strength is tended not to accurately control with the time, and nothing Method carries out real-time monitoring to Rehabilitation situation, can not record to each rehabilitation result, lead to repetition training and treatment The feedback of effect not in time, is unfavorable for medical staff according to ICU patient's recovery effects and effectively adjusts rehabilitation training plans.
Current healing robot needs artificial movement, increases the labour of medical staff, and training mode is single, The demand in patient's each rehabilitation stage is not being met, and rehabilitation training may only be once carried out for the partial joint of patient, therefore Training result is often unsatisfactory.
For the limitation of traditional lower limb rehabilitation training, the present invention uses mechanical exoskeleton, cloud platform, autonomous robot The technologies such as navigation and positioning design a horizontal bilateral brain paralysis lower limb in the ward ICU with communication and independent navigation locomotive function Healing robot, so that rehabilitation training is more convenient, improves rehabilitation efficiency, substantially reduces simultaneously in conjunction with human-computer interaction module The cost of rehabilitation training.
Summary of the invention
It is a kind of with communication and independent navigation locomotive function the purpose of the present invention is in view of the deficiencies of the prior art, designing The horizontal bilateral brain paralysis lower limb rehabilitation robot in the ward ICU, the robot can autonomous to the ward ICU inaction ability suffer from Person's hospital bed position provides double lower limb movement evaluation and test for patient and coordinates rehabilitation training；Therefore, without mobile patient in use Position effectively avoids patient suffering and secondary damage, guarantees that rehabilitation training securely and reliably carries out.
Technical solution of the invention is as follows:
A kind of horizontal bilateral brain paralysis lower limb rehabilitation robot in the ward ICU with communication and independent navigation locomotive function Including lower limb rehabilitation ectoskeleton, human body physical sign data acquisition module, data processing module, motion-control module, human-computer interaction mould Block and independent navigation mobile chassis are, it can be achieved that independent navigation is mobile, and provides the evaluation and test of double lower limb athletic rehabilitation and health for patient Refreshment is practiced.
The lower limb rehabilitation ectoskeleton can adapt to the length of different people leg by the collapsing length of adjusting ectoskeleton structure, By going up and down module, the hospital bed of different height is adapted to；Independent navigation mobile chassis is furnished with the pressurization dress that can be protruded into below hospital bed It sets, by screwing the knob of pressurizing device, docks it reliably with hospital bed.
The human body physical sign data acquisition module includes photoelectric sphyg sensor, blood oxygen transducer, gas flow sensor And gyroscope, for obtaining and monitoring the sign data of patient in rehabilitation training, as pulse, heart rate, blood pressure, blood oxygen saturation, The sign data of the items patient such as each joint motions speed of lung capacity, lower limb and acceleration, guarantees ICU Rehabilitation training process Safety, and data processing module is transferred data to by human-computer interaction module.
The data processing module receives the data from human body physical sign data acquisition module, and handles data, Patient legs' motor function evaluation result and relative motion data are provided, and are uploaded to cloud platform, cloud platform passes through clustering Generate personalized therapy program.
The data acquisition module is by patient legs' motor function evaluation result and relative motion real-time data transmission to people Machine interactive module facilitates patient and doctor to understand evaluation result and rehabilitation training effect in time.
The human-computer interaction module includes display screen, cell phone application and voice interaction device, and display can real-time display leg Tracking animation, evaluation result and the rehabilitation training effect of movement, doctor can check the treatment side at cloud platform end by cell phone application Case, the movement of the manipulation robot, setting rehabilitation training mode and parameter are sent to motion control mould to generate control instruction Block checks the every physical condition of patient in the training process；Voice interaction device can make doctor or patient pass through voice to control System or adjustment robot motion make the simpler intelligence of rehabilitation process.
The motion-control module includes stm32 single-chip microcontroller, servo motor and push-rod electric machine.
The independent navigation mobile chassis includes Mecanum wheel, laser radar, binocular camera, avoiding obstacles by supersonic wave mould Block, self-locking steering wheel and GPS navigation module.
Advantage of the invention: there are rehabilitation evaluation and test and rehabilitation training mode capabilities, wherein rehabilitation training mode can be divided into master Dynamic, passive and main passive Three models, these three modes can be switched over according to patients ' demand；It is led with Omni-mobile, GPS Boat, the independent navigation of view-based access control model and laser fusion, ultrasonic avoidance function, greatly save the human resources of hospital at This, improves the space utilization rate of hospital's corridor and the ward ICU；Using modularized design, it is suitable for the patient of different demands；It comments Surveying result and rehabilitation training effect can display in real time and save, and inquire and track in doctor convenient for patient, can be well Meet clinical demand；With cloud platform personalized therapeutic scheme can be generated by clustering.
Detailed description of the invention
Fig. 1 is the horizontal bilateral brain paralysis lower limb rehabilitation robot machine in the ward ICU with communication and independent navigation locomotive function The axonometric drawing of tool structure
Fig. 2 is the horizontal bilateral brain paralysis lower limb rehabilitation robot machine in the ward ICU with communication and independent navigation locomotive function The side view of tool structure
Fig. 3 is the horizontal bilateral brain paralysis lower limb rehabilitation robot in the ward ICU with communication and independent navigation locomotive function Schematic diagram
Specific implementation method
As shown in Figures 1 and 2, the mechanical structure of the invention patent includes laser radar (1), Mecanum wheel (2), aluminium Type bracket (3), fixed adjustment structure (4), aluminium fixed frame (5), thigh housing (6), fixed support structure (7), stepping electricity Machine (8), linkage (9), pedal (10), ankle housing (11), shank set (12), knee fixed device (13), motor push rod (14), gear train (15), GPS module (16), avoiding obstacles by supersonic wave module (17), binocular camera (18), display screen (19), from It locks steering wheel (20).
As shown in Figure 1, leg training mechanism is by aluminium type bracket, fixed adjustment structure, fixed support structure, aluminium Fixed frame, thigh housing, linkage, gear train, stepper motor, motor push rod, knee fixed device, shank set, ankle Housing, foot pedal are constituted；Between leg training mechanism and support frame, between two connecting rods of leg training mechanism, leg instruction Practice between mechanism and connection frame, between connection frame and foot pedal is by motor, shaft and transmission mechanism structure between the two At transmission chain, by the control program under selection different mode, thigh and calf driving motor draws each joint of patient legs and completes phase The rehabilitation training answered.
Shank set shown in Fig. 1, ankle housing constitute training institution, foot, pass through the controlling party under selection different mode Case, helps or traction patient completes foot's rehabilitation training.
Independent navigation mobile chassis as shown in Figure 1 is kept away by Mecanum wheel, laser radar, binocular camera, ultrasonic wave Barrier module, self-locking steering wheel and GPS navigation module are constituted；Outdoor is mobile, can be navigated using GPS module；Indoor moving When, image information and depth information can be acquired, visual odometry data and chassis encoder data are passed through into Kalman filtering Algorithm is merged, and operation ORB-SLAM algorithm carries out map structuring；When illumination condition is poor, transported using single line laser radar Row gmapping algorithm constructs map；After saving map, by A* navigation algorithm, independent navigation is carried out.
Avoiding obstacles by supersonic wave module as shown in Figure 1 is mounted on chassis surrounding, in the traffic direction one of lower limb rehabilitation robot Denier detects that pedestrian or other barriers, robot take emergent stopping measure, prevent robot from bumping against in the process of walking Pedestrian or other barriers, when detections of radar is accessible, robot walks on, and effectively prevents the rehabilitation machine People collides in moving process with corridor personnel.
Independent navigation mobile chassis as shown in Figure 1 is mounted on four ends on chassis, can make ICU equipped with Mecanum wheel The horizontal bilateral brain paralysis lower limb rehabilitation robot in ward realizes forward, traversing, diagonal, rotation in the case where not changing fuselage direction Turn and combinations thereof equal motion modes；Therefore, the robot does not need to turn in the process of walking, turns around etc. to occupy hospital corridors The movement of much room improves the utilization rate in hospital corridors space.
Independent navigation mobile chassis as shown in Figure 2 is equipped with self-locking steering wheel, when robot reaches beside patient's bed Afterwards, independent navigation mobile chassis protrudes into below hospital bed, and self-locking steering wheel locks, and keeps robot fixed in situ, prevents machine Everybody move in rehabilitation training to patient device, causes to damage to patient.
The human-computer interaction interface of display as shown in Figure 2 includes instruction column, status bar and cartoon interface；Lower extremity motor function When evaluation and test and rehabilitation training, successively idsplay order, guidance patient complete corresponding lower limb movement on instruction column；Cartoon interface is based on adopting Collection, treated lower extremity movement data, simulate the tracking animation of patient's lower extremity movement in real time, convenient for patient be best understood from from The movement of body lower limb；Data, evaluation result and rehabilitation training of the status bar real-time display data after processing module processing analysis Effect, to fully understand the locomitivity of patient's lower limb and the effect of rehabilitation training；Display is equipped with camera, can be by ICU The rehabilitation video of patient uploads to specified APP in real time, and families of patients can watch patient condition at any time, and logical with patient's video On the one hand words can reduce families of patients for the worry of patient, another aspect can also be to avoid patient ICU in rehabilitation course Worry is generated, patient is avoided to generate psychological pressure in rehabilitation course.
The horizontal bilateral brain paralysis leg rehabilitation instrument in the ward ICU with communication and independent navigation locomotive function as shown in Figure 3 Device people is by lower limb rehabilitation ectoskeleton, human body physical sign data acquisition module, motion-control module, data processing module, human-computer interaction Module, independent navigation mobile chassis are constituted.
As shown in figure 3, human-computer interaction module includes display screen, cell phone application and voice interaction device；When patient needs rehabilitation When treatment, doctor terminal logs in doctor terminal cell phone application, evaluates and tests interface into rehabilitation, this interface includes serial communication module information, health It reexamines valence module information, control system information and other information, medical staff is by showing information in observing interface, to patient's health Multiple situation carries out preliminary analysis, and sends instructions to human-computer interaction module, and human-computer interaction module sends instructions to motion control Module, moving control module for controlling independent navigation mobile chassis make robot autonomous to be moved to designated position.
As shown in figure 3, data processing module receives the data from human body physical sign data acquisition module, and data are carried out Processing provides patient legs' motor function evaluation result and relative motion data, generates evaluating result, is uploaded to cloud platform, cloud Platform generates personalized therapy program by clustering；Attending physician can also according to Rehabilitation Assessment result, system finishing it is upper The integrated datas such as secondary run duration and angle voluntarily formulate patient's lower limb rehabilitation sport training program, and the order in screen It manipulates and run duration, angle and training mode is set in interface or doctor terminal cell phone application, referred to by human-computer interaction module transmission It enables to motion-control module, controls lower limb exoskeleton and carry out exercise rehabilitation training.
Motion-control module as shown in Figure 3 is using clinical gait analysis data as lower limb rehabilitation robot motion control base Plinth, when subject can not reach target from instigator robot, impedance controller can provide corresponding according to trajector deviation degree Assist torque completes motor task, and when subject can independently complete active training task, impedance controller does not provide auxiliary force With resistance, double lower limb healing robot is made to realize that main passive adaptive lower limb coordinate rehabilitation training.
Somatic data acquisition module as shown in Figure 3 includes photoelectric sphyg sensor, blood oxygen transducer, gas flow sensing Device and gyroscope obtain and monitor the sign data of patient in rehabilitation training, such as arteries and veins during patient carries out rehabilitation It fights, the sign number of every patient such as heart rate, blood pressure, blood oxygen saturation, lung capacity, each joint motions speed of lower limb and acceleration According to and being sent to human-computer interaction module, patient data real-time display on a display screen, and is sent to data by human-computer interaction module Processing module handles data, provides patient legs' motor function evaluation result and relative motion data, generates assessment knot Fruit is uploaded to cloud platform；Cloud platform is that personalized therapeutic scheme is formulated in treatment to patient in next step by clustering.
Specific embodiment
Before rehabilitation training starts, user need register enter rehabilitation evaluating system login interface, input login name with it is close Code；After logining successfully, interface is evaluated and tested into rehabilitation, this interface includes serial communication module information, Rehabilitation Assessment module information, control System information and other information processed, medical staff tentatively divide Rehabilitation situation by showing information in observing interface Analysis.
Rehabilitation evaluating system can root measurement data and evaluation result, provide patient's lower limb rehabilitation sport training program automatically； Attending physician can also voluntarily formulate according to integrated datas such as Rehabilitation Assessment result, the last time run duration of system finishing and angles Patient's lower limb rehabilitation sport training program, and run duration, angle and movement side are set in the order of host computer manipulation interface Formula implements the lower limb rehabilitation training of ICU patient.
After the completion of lower limb rehabilitation training solution formulation, medical staff can be by cell phone application or shown display screen to described Instruction is assigned by robot makes it reach specified ward, and after robot receives instruction, autonomous is to patient ward, and according to doctor Set rehabilitation modality and parameter carries out rehabilitation training to patient.
After robot accurately reaches specified intensive care unit, camera can be real-time by the rehabilitation video of patient ICU Specified app is uploaded to, families of patients can be watched at any time, on the one hand can also may be used by video capability and families of patients video To reduce families of patients for the worry of patient, worry on the other hand can also be generated in rehabilitation course to avoid patient ICU, is kept away Exempt from patient and generates psychological pressure in rehabilitation course.
It is robot autonomous to be back to original place point after patients ' recovery training, and by whole numbers of this rehabilitation training According to cloud platform is uploaded to, personalized training program is generated for next step, data support is provided.
Basic principle of the invention, implementation process and advantages of the present invention, the technology of the industry has been shown and described above Personnel are it should be appreciated that the present invention is not limited to the above embodiments, without departing from the spirit and scope of the present invention, this hair Bright to will also have various changes and improvements, these changes and improvements belong in scope of the claimed invention, the present invention claims Protection scope is defined by the appending claims and its equivalent thereof.

Claims (5)

1.本发明公开了一种具有通信和自主导航移动功能的ICU病房卧式双侧脑瘫下肢康复机器人，包括下肢康复外骨骼，人体体征数据采集模块，数据处理模块，运动控制模块，人机交互模块和自主导航移动底盘，其特征在于：所述康复机器人的下肢外骨骼是康复训练实施的基础，可固定患者的腿部进行康复训练，可调节外骨骼的长度，适应不同人腿的长短；机器人的下肢外骨骼存在升降模块，可根据康复病人病床高度升降，从而适应不同高度的病床；自主导航移动底盘设计有可伸入病床下方的加压装置，通过旋紧加压装置的旋钮，使其与病床可靠对接固定；所述人体体征数据采集模块包括光电脉搏传感器、血氧传感器、气体流量传感器及陀螺仪，用于获取并监控康复训练中病人的体征数据，如脉搏、心率、血压、血氧饱和度、肺活量、下肢各关节运动速度及加速度等各项病人的体征数据，并将数据传送至数据处理模块。1. The present invention discloses an ICU ward horizontal bilateral cerebral palsy lower limb rehabilitation robot with communication and autonomous navigation and movement functions, including a lower limb rehabilitation exoskeleton, a body sign data acquisition module, a data processing module, a motion control module, and a human-computer interaction module. The module and the autonomous navigation mobile chassis are characterized in that: the lower limb exoskeleton of the rehabilitation robot is the basis for the implementation of rehabilitation training, the patient's leg can be fixed for rehabilitation training, and the length of the exoskeleton can be adjusted to adapt to the length of different human legs; The lower limb exoskeleton of the robot has a lifting module, which can be lifted and lowered according to the height of the bed of the rehabilitation patient, so as to adapt to different heights of the bed; the autonomous navigation mobile chassis is designed with a pressure device that can extend under the bed. It is reliably docked and fixed with the hospital bed; the human body sign data acquisition module includes a photoelectric pulse sensor, a blood oxygen sensor, a gas flow sensor and a gyroscope, which are used to obtain and monitor the patient's sign data during rehabilitation training, such as pulse, heart rate, blood pressure, Blood oxygen saturation, vital capacity, movement speed and acceleration of lower limb joints and other physical signs of the patient, and send the data to the data processing module. 2.权利要求1所述的数据处理模块对接收的数据进行处理，给出患者腿部运动功能评测结果及相关运动数据，生成测评报告，并上传至云平台，云平台通过聚类分析生成个性化的治疗方案，也可将测评结果发送给医护人员，医护人员可设置康复训练模式与参数并生成控制指令，发送给运动控制模块。2. the data processing module described in claim 1 processes the data received, provides the patient's leg motor function evaluation result and the relevant movement data, generates the evaluation report, and uploads to the cloud platform, and the cloud platform generates individuality by cluster analysis. It can also send the evaluation results to the medical staff, and the medical staff can set the rehabilitation training mode and parameters, generate control instructions, and send them to the motion control module. 3.权利要求1所述的运动控制模块包括stm32单片机、伺服电机及推杆电机，以临床步态分析数据作为下肢康复机器人运动控制基础，当受试者无法自主使机器人达到目标时，阻抗控制器可根据轨迹偏差程度提供相应的辅助转矩完成运动任务，当受试者可自主完成主动训练任务时，阻抗控制器不提供辅助力与阻力，使双下肢康复机器人实现主被动自适应的下肢协调康复训练。3. the described motion control module of claim 1 comprises stm32 single-chip microcomputer, servo motor and push rod motor, with clinical gait analysis data as lower limb rehabilitation robot motion control basis, when experimenter cannot make robot reach the target autonomously, impedance control. The controller can provide corresponding auxiliary torque to complete the movement task according to the degree of trajectory deviation. When the subject can complete the active training task autonomously, the impedance controller does not provide auxiliary force and resistance, so that the double lower limb rehabilitation robot can achieve active and passive adaptive lower limbs. Coordinate rehabilitation training. 4.权利要求1所述的人机交互模块包括显示器、手机APP及语音交互装置，显示器可实时显示腿部运动的跟踪数据、评测与康复训练情况；医生可通过手机APP查看云平台端的治疗方案、操纵所述机器人的移动、设置康复训练模式及参数、查看病人在训练过程中的各项身体状况；语音交互装置可使医生或患者通过语音来控制或调整机器人运动，使康复治疗过程更简单智能；所述显示器装有摄像头，可以将ICU病人的康复视频实时上传到指定APP，病人家属可以随时观看，并与病人视频通话，一方面可以减少病人家属对于病人的担忧，另一方面也可以避免ICU病人在康复过程中产生忧虑，避免病人在康复过程中产生心理压力。4. The human-computer interaction module according to claim 1 comprises a display, a mobile phone APP and a voice interaction device, and the display can display the tracking data, evaluation and rehabilitation training situation of the leg movement in real time; the doctor can check the treatment plan on the cloud platform side through the mobile phone APP , Manipulate the movement of the robot, set the rehabilitation training mode and parameters, and check various physical conditions of the patient during the training process; the voice interaction device enables the doctor or patient to control or adjust the robot movement through voice, making the rehabilitation treatment process easier. Intelligent; the display is equipped with a camera, which can upload the recovery video of ICU patients to the designated APP in real time, and the patient's family can watch it at any time and make video calls with the patient. Avoid anxiety in ICU patients during the recovery process, and avoid psychological pressure for patients during the recovery process. 5.权利要求1所述的自主导航移动底盘包括麦克纳姆轮、激光雷达、双目摄像机、超声波避障模块、自锁方向轮和GPS导航模块，其特征在于：当机器人收到移动信号后，采用GPS进行室外导航，室内导航时，采用双目相机采集到的图像信息与深度信息，将视觉里程计数据与底盘编码器数据通过卡尔曼滤波算法进行融合，运行ORB-SLAM算法进行地图构建；同时，在光照条件较差时，采用单线激光雷达运行gmapping算法构建地图，进而通过A*导航算法，进行自主导航；超声波避障模块安装在机器人四周围，当下肢康复机器人在运行方向上检测到行人或者其他障碍物时，机器人采取紧急停止措施，防止机器人在行走过程中撞到行人或者其他障碍物，直到雷达检测无障碍时，机器人继续前行，有效避免了所述康复机器人在移动过程中与楼道人员发生碰撞，提高机器人的自主移动能力。5. The autonomous navigation mobile chassis of claim 1 comprises a Mecanum wheel, a laser radar, a binocular camera, an ultrasonic obstacle avoidance module, a self-locking direction wheel and a GPS navigation module, characterized in that: when the robot receives the mobile signal , GPS is used for outdoor navigation, when indoor navigation, the image information and depth information collected by the binocular camera are used, the visual odometry data and the chassis encoder data are fused through the Kalman filtering algorithm, and the ORB-SLAM algorithm is used for map construction. ; At the same time, when the lighting conditions are poor, the single-line lidar is used to run the gmapping algorithm to construct a map, and then the A* navigation algorithm is used for autonomous navigation; the ultrasonic obstacle avoidance module is installed around the robot, and the lower limb rehabilitation robot detects the running direction. When reaching pedestrians or other obstacles, the robot takes emergency stop measures to prevent the robot from hitting pedestrians or other obstacles during walking. Until the radar detects no obstacles, the robot continues to move forward, which effectively avoids the rehabilitation robot from moving. It can collide with people in the corridor and improve the autonomous mobility of the robot.
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CN112870032A (en) * 2021-03-10 2021-06-01 王继荣 Multifunctional lower limb rehabilitation intelligent auxiliary walking robot
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CN113611388B (en) * 2021-08-02 2024-02-09 北京精密机电控制设备研究所 Intelligent sports rehabilitation and training system based on exoskeleton
CN114010466A (en) * 2021-10-29 2022-02-08 汕头大学 A walker suitable for lower limb rehabilitation training and using method thereof
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