CN110584956A - Wheel type bionic walking rehabilitation robot - Google Patents

Wheel type bionic walking rehabilitation robot Download PDF

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Publication number
CN110584956A
CN110584956A CN201910908087.5A CN201910908087A CN110584956A CN 110584956 A CN110584956 A CN 110584956A CN 201910908087 A CN201910908087 A CN 201910908087A CN 110584956 A CN110584956 A CN 110584956A
Authority
CN
China
Prior art keywords
lifting
arm
articulated
wheel
shank
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201910908087.5A
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Chinese (zh)
Inventor
史天龙
史艳玲
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to CN201910908087.5A priority Critical patent/CN110584956A/en
Publication of CN110584956A publication Critical patent/CN110584956A/en
Pending legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • 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
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper 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
    • A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • 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
    • A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
    • A61H2015/0007—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis
    • A61H2015/0014—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis cylinder-like, i.e. rollers
    • 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
    • A61H2201/01—Constructive details
    • A61H2201/0119—Support for the device
    • A61H2201/0138—Support for the device incorporated in furniture
    • A61H2201/0149—Seat or chair
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5023—Interfaces to the user
    • A61H2201/5043—Displays
    • A61H2201/5046—Touch screens
    • 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
    • A61H2205/06—Arms
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

Wheel type bionic walking rehabilitation robot. At present, when the hands and feet of a paralyzed patient are required to be properly exercised, the paralyzed patient needs to be helped by people, which is very troublesome. The invention comprises the following components: chassis (13), the chassis is articulated with the lower part of hoisting frame (11) and supports through supporting hydraulic cylinder (14), both sides set up lifting wheelset (8) respectively about the hoisting frame, supporting wheel (16) on the upside lifting wheelset support on arm supporting wheel (22), arm supporting wheel is connected through the pivot with two arm branch (1) lower parts that the chassis upside set up, the supporting wheel of downside lifting wheelset both sides supports on shank supporting wheel (23), the articulated department of shank supporting wheel and articulated connecting rod (21) is connected through the pivot, articulated connecting rod is articulated with two shank branch (5) that the chassis downside set up, the both sides of arm branch are provided with a set of arm massage roller (2), the end fixing of shank branch has I-shaped massage roller support (6). The invention is used for bionic walking.

Description

Wheel type bionic walking rehabilitation robot
The technical field is as follows:
the invention relates to a wheel type bionic walking rehabilitation robot.
Background art:
at present, when the hands and feet of a paralyzed patient are required to be properly exercised, the hands and feet of the paralyzed patient need to be helped by people, the trouble is very troublesome, the exercise of the hands and feet which is helped by people is uneven, only one part can be exercised, and long time is consumed when the whole body is required to be exercised.
The invention content is as follows:
the invention aims to solve the problem that the prior hand and foot exercise of a paralyzed patient needs to be assisted by a person and only one part can be exercised, and provides a wheel type bionic walking rehabilitation robot capable of automatically exercising four limbs of a body.
The above purpose is realized by the following technical scheme:
a wheeled bionic walking rehabilitation robot comprises: the chassis, the chassis articulated and support through supporting the pneumatic cylinder with the lower part of hoisting frame, the hoisting frame about both sides set up the lifting wheelset respectively, the upside the supporting wheel support of lifting wheelset on the arm takes turns to, the arm take turns with two arm branch lower parts that the chassis upside set up are connected through the pivot, the downside the supporting wheel of lifting wheelset both sides support on the shank takes turns to, the articulated department of shank taking turns and articulated connecting rod be connected through the pivot, articulated connecting rod with two shank branches that the chassis downside set up articulated, the both sides of arm branch be provided with a set of arm massage roller, the end fixing of shank branch have I-shaped massage roller support, the I-shaped massage roller support on set up the shank massage roller.
The wheel type bionic walking rehabilitation robot is characterized in that a touch screen support is fixed on the lifting frame, and a touch screen is mounted on the touch screen support.
The wheel type bionic walking rehabilitation robot is characterized in that rollers are arranged on two sides of the underframe.
The wheel type bionic walking rehabilitation robot is characterized in that the upper side of the lifting frame is hinged to the back supporting plate, the upper side of the lifting frame is hinged to the through shaft of the lifting wheel set, a bearing is fixed to the outer side of the bearing and the ring frame, and the ring frame is hinged to the bottom of the back supporting plate.
The wheel type bionic walking rehabilitation robot is characterized in that the lifting wheel set comprises a through shaft, and two sides of the through shaft are connected with eccentric holes in the supporting wheel through bolts.
The wheel type bionic walking rehabilitation robot is characterized in that the bottom of the lifting frame is fixed with the motor through a bolt, and a belt pulley on an output shaft of the motor is in belt transmission with belt pulleys on through shafts of the two lifting wheel sets.
Has the advantages that:
1. the paralysis patient can be exercised without the help of a person, the walking of the person is simulated for exercising, the whole body can be exercised at one time, and the time spent on assisting the exercise by manpower is saved.
2. The base frame is hinged with the lifting frame and is supported by the supporting hydraulic cylinder, the lifting frame can be supported by starting the supporting hydraulic cylinder, so that the lifting frame can realize a horizontal state and a vertical state, a patient lies down to walk and exercise when the lifting frame is horizontal, and the buttocks of the patient sits on the seat when the lifting frame is vertical to simulate a normal standing walking state of the patient.
3. The invention drives the two lifting wheel sets to rotate through one motor, thereby realizing the walking movement of the arms and the legs and saving power.
4. The invention realizes the automatic control of the whole device, the automatic walking exercise and the automatic forward and backward walking of the underframe through the touch screen.
Description of the drawings:
FIG. 1 is a front view of the present invention;
FIG. 2 is a perspective view of the present invention;
FIG. 3 is a side view of the present invention;
FIG. 4 is a top view of the present invention;
in the figure: 1. an arm strut; 2. an arm massage roller; 3. a touch screen; 4. a touch screen support; 5. a leg strut; 6. a massage roller support; 7. a leg massage roller; 8. lifting the wheel set; 9. a motor; 10. a seat; 11. a hoisting frame; 12. a wheel; 13. a chassis; 14. a support hydraulic cylinder; 15. a roller; 16. a support wheel; 17. passing through the shaft; 18. a circular ring frame; 19. a bearing; 20. a belt pulley; 21. a hinged connecting rod; 22. an arm supporting wheel; 23. a leg supporting wheel; 24. a back support plate.
The specific implementation mode is as follows:
example 1:
a wheeled bionic walking rehabilitation robot comprises: a bottom frame 13, the bottom frame is hinged with the lower part of a lifting frame 11 and supported by a supporting hydraulic cylinder 14, the hinge connection is preferably performed, the lifting frame can horizontally rotate to a vertical state under the support of the supporting hydraulic cylinder, the upper side and the lower side of the lifting frame are respectively provided with a lifting wheel set 8, a supporting wheel 16 on the lifting wheel set at the upper side is supported on an arm supporting wheel 22, the side surface of the supporting wheel is provided with a circle of groove, the arm supporting wheel is attached to the groove of the supporting wheel, the arm supporting wheel is connected with the lower parts of two arm supporting rods 1 arranged at the upper side of the bottom frame through a rotating shaft, the arm supporting rods are T-shaped, the supporting wheels at the two sides of the lifting wheel set at the lower side are supported on a leg supporting wheel 23, the hinge joint of the leg supporting wheel and a hinge connecting rod 21 is connected through a rotating shaft, the hinge connecting rod is hinged with one end of two connecting rods, the hinge joint is, articulated connecting rod with two shank branch 5 that the chassis downside set up articulated, articulated connecting rod do not have one in the articulated one end to be connected through the pivot with the hoisting frame, another is connected through the pivot with shank branch, the both sides of arm branch be provided with a set of arm massage roller 2, arm branch both sides evenly are fixed with a set of projecting bar, the cover has a set of arm massage roller on the projecting bar to the center round hole and the projecting bar clearance fit of arm massage roller make the arm massage roller can the free rotation, play the effect of arm massage, the end fixing of shank branch have I shape massage roller support 6, I shape massage roller support on set up shank massage roller 7.
The supporting wheels on the through shaft of the lifting assembly can rotate when the bolt is loosened, then the supporting wheels on two sides of the through shaft are arranged one above the other, then the bolt is fastened, and at the moment, one of the two arms can be lifted, the other arm can be lowered, and the other leg can be lifted, and the other leg can be lowered.
Example 2:
according to the wheel type bionic walking rehabilitation robot in the embodiment 1, the lifting frame is fixedly provided with the touch screen support 4, and the touch screen 3 is installed on the touch screen support.
The touch screen is electrically connected with the single chip microcomputer, the single chip microcomputer is used for electrically controlling the whole device, the 51-series single chip microcomputer is selected for use, the output end of the single chip microcomputer is electrically connected with the supporting hydraulic cylinder, the motor and the motor driving the wheels to walk on the underframe, meanwhile, a power supply is further arranged on the underframe, and the power supply is electrically connected with the touch screen, the single chip microcomputer, the motor and the supporting hydraulic cylinder and used for supplying power to the whole device.
Example 3:
the wheeled bionic walking rehabilitation robot in the embodiment 1 or 2, wherein the two sides of the underframe are provided with the rollers 15.
The chassis is provided with wheels, wheel shafts of the wheels 12 are fixed with output shafts of wheel motors, and the wheel motors are used for driving the wheels to walk, so that the whole device walks.
Example 4:
according to the embodiment 1, 2 or 3 or the wheel-type bionic walking rehabilitation robot, the upper side of the lifting frame is hinged with the back support plate 24, the hinge is preferably connected through a rotating shaft, a bearing 19 is fixed on the through shaft 17 of the lifting wheel set on the upper side, the outer side of the bearing is fixed with the circular frame 18, and the circular frame is hinged with the bottom of the back support plate.
As shown in figure 2, the lower side of the back supporting plate is connected with the side face of the lifting frame through a rotating shaft, so that the back supporting plate can rotate along the rotating shaft, the ring frame is also connected with the back supporting plate through the rotating shaft, the inner part of the ring frame is fixed with the outer ring of the bearing, the inner ring of the bearing is fixed with the through shaft, and at the moment, when the through shaft rotates, the ring frame is equivalent to the effect of an eccentric wheel, so that the back supporting plate can be lifted up and lowered, and the back can be jacked up and dropped down.
Example 5:
according to the wheel type bionic walking rehabilitation robot in the embodiment 1, 2, 3 or 4, the lifting wheel set comprises the through shaft, and two sides of the through shaft are connected with the eccentric holes in the supporting wheels through bolts.
Example 6:
according to the wheel type bionic walking rehabilitation robot in the embodiment 1, 2, 3, 4 or 5, the bottom of the lifting frame is fixed with the motor 9 through bolts, and a belt pulley on an output shaft of the motor is in belt transmission with belt pulleys 20 on through shafts of the two lifting wheel sets.
When the device is driven, the wheel motor and the motor are controlled to start through the touch screen, then the whole device moves back and forth, the motor drives the through shafts of the two lifting components to rotate through the belt, the two supporting wheels of the upper lifting component are arranged one on top of the other, the two supporting wheels of the lower lifting component are arranged one on top of the other, as shown in figure 2, bolts on the side surfaces of the supporting wheels are loosened, then the supporting wheels are rotated, the left supporting wheel of the upper lifting component is rotated, the through shaft is positioned on the upper side of the left supporting wheel, the right supporting wheel is rotated, the through shaft is positioned on the lower side of the right supporting wheel to form a transversely placed Z-shaped structure, the two supporting wheels of the lower lifting component are also rotated, the through shaft of the lower lifting component is positioned on the lower side of the left supporting wheel and positioned on the upper side of the right supporting wheel, after the rotation is completed, when the lifting frame is located at a vertical position, a patient sits on the seat 10, two arms are placed on the arm massage rollers, two legs are placed on the leg massage rollers, as shown in fig. 2, when the upper side through shaft rotates, the left side supporting wheel supports the arm supporting wheel, so that the left side arm is lifted, at the moment, the right side supporting wheel is separated from the arm supporting wheel of the right side arm, under the action of the arms, the right side arm supporting rod is pressed down, so that the right side arm supporting wheel can be always attached to the right side supporting wheel, the left side arm is lifted, the right side arm falls, when the through shaft of the lower side rotates, the left side leg is lowered, the right side leg is lifted, bionic walking is realized, at the moment, the supporting hydraulic cylinder can be started to support the lifting frame to a horizontal state, and the bionic walking can.

Claims (6)

1. A wheeled bionic walking rehabilitation robot comprises: the chassis, characterized by: the chassis articulated and support through supporting the pneumatic cylinder with the lower part of hoisting frame, the hoisting frame about both sides set up the lifting wheelset respectively, the upside the supporting wheel support of lifting wheelset on the arm takes turns to, the arm take turns with two arm branch lower parts that the chassis upside set up connect through the pivot, the downside the supporting wheel of lifting wheelset both sides support on the shank takes turns to, the articulated department of shank taking turns and articulated connecting rod be connected through the pivot, articulated connecting rod with two shank branch that the chassis downside set up articulated, the both sides of arm branch be provided with a set of arm massage roller, the end fixing of shank branch have I-shaped massage roller support, I-shaped massage roller support on set up the shank massage roller.
2. The wheeled biomimetic walking rehabilitation robot as recited in claim 1, wherein: a touch screen support is fixed on the lifting frame, and a touch screen is installed on the touch screen support.
3. The wheeled biomimetic walking rehabilitation robot as recited in claim 2, wherein: and rollers are arranged on two sides of the bottom frame.
4. The wheeled biomimetic walking rehabilitation robot as recited in claim 3, wherein: the lifting frame upside is articulated with the back backup pad, the upside the logical epaxial bearing that is fixed with of lifting wheelset, the bearing outside fixed with the ring frame, the ring frame with the bottom of back backup pad articulated.
5. The wheeled biomimetic walking rehabilitation robot as recited in claim 4, wherein: the lifting wheel set comprises the through shaft, and two sides of the through shaft are connected with the eccentric holes in the supporting wheels through bolts.
6. The wheeled biomimetic walking rehabilitation robot as recited in claim 5, wherein: the bottom of the lifting frame is fixed with the motor through bolts, and a belt pulley on an output shaft of the motor is in belt transmission with belt pulleys on through shafts of the two lifting wheel sets.
CN201910908087.5A 2019-09-25 2019-09-25 Wheel type bionic walking rehabilitation robot Pending CN110584956A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910908087.5A CN110584956A (en) 2019-09-25 2019-09-25 Wheel type bionic walking rehabilitation robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910908087.5A CN110584956A (en) 2019-09-25 2019-09-25 Wheel type bionic walking rehabilitation robot

Publications (1)

Publication Number Publication Date
CN110584956A true CN110584956A (en) 2019-12-20

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Country Link
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Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5099828A (en) * 1989-06-30 1992-03-31 Duke Carl H Passive exercise apparatus for entire body
CN2350034Y (en) * 1998-10-15 1999-11-24 张建华 multifunctional rehabilitation exercise bed
US20080132383A1 (en) * 2004-12-07 2008-06-05 Tylerton International Inc. Device And Method For Training, Rehabilitation And/Or Support
CN101732147A (en) * 2008-11-24 2010-06-16 杨清凉 Rehabilitation mechanism
CN103070761A (en) * 2013-02-04 2013-05-01 潘长洪 Paralytic stroke electric exercise assistant chair
CN106964115A (en) * 2017-05-08 2017-07-21 惠安县鑫泰信息科技有限公司 A kind of knee-joint rehabilitation training chair
CN109009964A (en) * 2018-06-18 2018-12-18 徐金标 A kind of whole body massage device
CN109431750A (en) * 2019-01-03 2019-03-08 李国英 Cardiac postoperative rehabilitation nursing device
CN110192958A (en) * 2019-06-25 2019-09-03 北京石油化工学院 A kind of recovery bed pose conversion equipment and the bed body suitable for upper and lower extremities rehabilitation
CN211535474U (en) * 2019-09-25 2020-09-22 黑龙江融康科技有限公司 Wheel type bionic walking rehabilitation robot

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5099828A (en) * 1989-06-30 1992-03-31 Duke Carl H Passive exercise apparatus for entire body
CN2350034Y (en) * 1998-10-15 1999-11-24 张建华 multifunctional rehabilitation exercise bed
US20080132383A1 (en) * 2004-12-07 2008-06-05 Tylerton International Inc. Device And Method For Training, Rehabilitation And/Or Support
CN101732147A (en) * 2008-11-24 2010-06-16 杨清凉 Rehabilitation mechanism
CN103070761A (en) * 2013-02-04 2013-05-01 潘长洪 Paralytic stroke electric exercise assistant chair
CN106964115A (en) * 2017-05-08 2017-07-21 惠安县鑫泰信息科技有限公司 A kind of knee-joint rehabilitation training chair
CN109009964A (en) * 2018-06-18 2018-12-18 徐金标 A kind of whole body massage device
CN109431750A (en) * 2019-01-03 2019-03-08 李国英 Cardiac postoperative rehabilitation nursing device
CN110192958A (en) * 2019-06-25 2019-09-03 北京石油化工学院 A kind of recovery bed pose conversion equipment and the bed body suitable for upper and lower extremities rehabilitation
CN211535474U (en) * 2019-09-25 2020-09-22 黑龙江融康科技有限公司 Wheel type bionic walking rehabilitation robot

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Application publication date: 20191220