CN111150604B - Rehabilitation training device and rehabilitation training support - Google Patents
Rehabilitation training device and rehabilitation training support Download PDFInfo
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- CN111150604B CN111150604B CN202010008955.7A CN202010008955A CN111150604B CN 111150604 B CN111150604 B CN 111150604B CN 202010008955 A CN202010008955 A CN 202010008955A CN 111150604 B CN111150604 B CN 111150604B
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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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
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- 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
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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
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
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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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- 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
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/14—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles for wrist joints
-
- 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
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/16—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles for hands or fingers
-
- 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
- A61H2201/1253—Driving means driven by a human being, e.g. hand driven
- A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
- A61H2201/1269—Passive exercise driven by movement of healthy limbs
- A61H2201/1276—Passive exercise driven by movement of healthy limbs by the other leg or arm
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- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
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- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Dentistry (AREA)
- Physiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- Engineering & Computer Science (AREA)
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Abstract
本发明涉及一种康复训练器及康复训练支架，包括康复训练支架，康复训练支架包括支架本体，还包括至少一对扭矩传动结构，同一对扭矩传动结构中的两个扭矩传动结构的轴线重合或平行设置，同一对扭矩传动结构中的两个扭矩传动结构通过支架本体上设置的同步扭矩传动结构传动连接，康复训练器还包括用于与对应扭矩传动结构相连的肢体固定架。本发明解决了现有技术中通过电机来对患者进行主动康复训练容易导致患者意外受伤的技术问题。
The invention relates to a rehabilitation training device and a rehabilitation training bracket, comprising a rehabilitation training bracket, the rehabilitation training bracket includes a bracket body, and also includes at least a pair of torque transmission structures. The axes of the two torque transmission structures in the same pair of torque transmission structures are coincident or Arranged in parallel, the two torque transmission structures in the same pair of torque transmission structures are connected through the synchronous torque transmission structure provided on the bracket body. The rehabilitation training device also includes a limb fixing frame for connecting with the corresponding torque transmission structure. The invention solves the technical problem in the prior art that the active rehabilitation training of the patient through the motor easily leads to the accidental injury of the patient.
Description
Technical Field
The invention relates to a rehabilitation training device and a rehabilitation training support in the field of rehabilitation instruments.
Background
The stroke or the stroke silo causes partial movement dysfunction of a human body, and how to carry out effective rehabilitation treatment on patients with the movement dysfunction is a long-term and difficult task to recover or basically recover the movement function of the patients.
In order to achieve motor function recovery, the motor ability of the muscles must be retrained. The existing apparatus, such as that disclosed in chinese patent CN104887457A, "a rehabilitation training device and a training support thereof", includes a limb fixing frame, a driving mechanism and a transmission mechanism that transmits between the driving mechanism and the limb fixing frame, the driving mechanism is a speed reduction motor, when in use, the limb to be trained, such as palm, sole, etc., is fixed on the limb fixing frame, and the driving motor provides resistance or assistance to complete the training of the muscle strength, muscle speed and muscle amplitude of the limb to be trained. As described in the specification of this publication, a complex motion is decomposed into a plurality of single-part, single-degree-of-freedom rotational motions about respective joints, and this most basic unit is referred to as a cell, and this motion is referred to as a cell motion.
The gradual rehabilitation training is completed through the corresponding primitive movement, however, the existing rehabilitation training device has the following problems during the use process: the rotating speed of the limb fixing frame is controlled by the driving motor, so that the training purpose is achieved, the output rotating speed of the driving motor is not easy to be controlled to be optimal, the limb movement amplitude, the speed and the strength of a patient with motor dysfunction are small, the rotating speed which is output by the driving motor and is improper can cause accidental injury due to too strong external force, the rotating speed and the shutdown of the driving motor cannot be timely adjusted due to the limb movement disorder of the patient, and in order to avoid causing too large injury to the patient, extra nursing personnel are usually required to control the driving motor, so that the waste of manpower is caused; in addition, only one limb can be trained in each training, and the training efficiency is not particularly high.
Disclosure of Invention
The invention aims to provide a rehabilitation training support, which aims to solve the technical problem that the active rehabilitation training of a patient through a motor in the prior art is easy to cause accidental injury of the patient; the invention also aims to provide a rehabilitation training device using the rehabilitation training bracket.
In order to solve the technical problems, the technical scheme of the rehabilitation training device is as follows:
the utility model provides a rehabilitation training device, includes rehabilitation training support, its characterized in that: the rehabilitation training support comprises a support body and at least one pair of torque transmission structures, the axes of the two torque transmission structures in the same pair of torque transmission structures are overlapped or arranged in parallel, the two torque transmission structures in the same pair of torque transmission structures are in transmission connection through the synchronous torque transmission structures arranged on the support body, and the rehabilitation training device further comprises a limb fixing frame used for being connected with the corresponding torque transmission structures.
The synchronous torque transmission structure comprises a main transmission shaft, the axis of which extends along the left-right direction, and two torque transmission structures in the same pair of torque transmission structures are respectively arranged at two ends of the main transmission shaft.
The torque transmission structures are a first pair of torque transmission structures and a second pair of torque transmission structures, the two torque transmission structures in the first pair of torque transmission structures are coaxially arranged at two ends of the transmission shaft, the axes of the two torque transmission structures in the second pair of torque transmission structures are arranged in parallel, the axes of the second pair of torque transmission structures are perpendicular to the axis of the transmission shaft, and the two torque transmission structures in the second pair of torque transmission structures are in transmission connection with the transmission shaft through bevel gears.
The support body is further provided with a transmission shaft locking mechanism used for locking the main transmission shaft, and the main transmission shaft is provided with a torque sensor in series.
The technical scheme of the rehabilitation training bracket is as follows:
the utility model provides a rehabilitation training support, includes the support body, still includes at least a pair of torque transmission structure that is used for linking to each other with corresponding limbs mount, and the axis coincidence or the parallel arrangement of two torque transmission structures in same pair of torque transmission structure, two torque transmission structures in same pair of torque transmission structure pass through the synchronous torque transmission structure transmission that sets up on the support body and connect.
The synchronous torque transmission structure comprises a main transmission shaft, the axis of which extends along the left-right direction, and two torque transmission structures in the same pair of torque transmission structures are respectively arranged at two ends of the main transmission shaft.
The torque transmission structures are a first pair of torque transmission structures and a second pair of torque transmission structures, the two torque transmission structures in the first pair of torque transmission structures are coaxially arranged at two ends of the transmission shaft, the axes of the two torque transmission structures in the second pair of torque transmission structures are arranged in parallel, the axes of the second pair of torque transmission structures are perpendicular to the axis of the transmission shaft, and the two torque transmission structures in the second pair of torque transmission structures are in transmission connection with the transmission shaft through bevel gears.
The support body is further provided with a transmission shaft locking mechanism used for locking the main transmission shaft, and the main transmission shaft is provided with a torque sensor in series.
The invention has the beneficial effects that: according to the rehabilitation training device, two torque transmission structures in the same pair of torque transmission structures are in transmission connection through the synchronous torque transmission structures arranged on the support body, when the rehabilitation training device is used, for example, two wrist joints of a patient are trained, the patient places two wrists on corresponding limb fixing frames respectively, the two hands of the patient are matched with each other to perform rehabilitation training without external power, so that the learning and confrontation of the joints are completed, when the two hands rotate in the same direction, the learning training can be performed, and when the two hands rotate in opposite directions, the confrontation training can be performed, so that the strength, the speed and the amplitude of muscles are gradually recovered. The training device has the advantages that the external motor is not needed, on one hand, the cost can be saved, when the training device is more important, the training force, the training amplitude and the training speed are controlled by the patient, the problem of accidental injury possibly caused by the fact that the rotating speed of the motor is not consistent is completely solved, the patient can complete the training independently, the nursing staff does not need to participate in the training process, and the liberation of the nursing staff is realized.
Drawings
FIG. 1 is a diagram illustrating the use of the rehabilitation training device of the present invention;
FIG. 2 is a schematic diagram of the rehabilitation trainer of FIG. 1;
FIG. 3 is a schematic diagram of the rehabilitation training stand of FIG. 2;
fig. 4 is another state diagram of the rehabilitation training device of the present invention.
Detailed Description
The embodiment of a rehabilitation training device in the invention is shown in figures 1-4: including rehabilitation training support 2 and limbs mount 1, limbs mount 1 can adopt the limbs mount among the prior art, and in this embodiment, the limbs mount is a wrist mount, and it includes backup pad 3, is provided with first transmission shaft 6 and the second transmission shaft 5 that the axis was arranged perpendicularly on the backup pad 3. The peripheries of the first transmission shaft 6 and the second transmission shaft 5 are provided with key grooves 20, the transmission shafts are inserted into corresponding transmission holes during use, and rotation stopping transmission between the transmission shafts and the transmission holes is realized through the matching of the key grooves and the key blocks.
The rehabilitation training support includes shell structure's support body 15, be provided with synchronous torque transmission structure on the support body 15, in this embodiment, for reducing the loss among the energy transfer process, synchronous torque transmission structure includes main drive shaft 13 that the axis extends along left right direction, main drive shaft is split type structure, it includes left side transmission shaft part 9 and the right side transmission shaft part 17 of arranging with left side transmission shaft part coaxial line, the right-hand member of left side transmission shaft part 9 is connected with torque sensor 14, torque sensor 14 passes through the shaft coupling 16 and links to each other with the left end of right side transmission shaft part 17. Still rotate on the support body and be equipped with first auxiliary drive axle 12 and the second auxiliary drive axle 18 that the axis extends along fore-and-aft direction, arrange side by side about first auxiliary drive axle 12 and the second auxiliary drive axle 18, first auxiliary drive axle 12 is connected with left side transmission shaft part transmission through left side bevel gear pair, second auxiliary drive axle 18 is connected with right side transmission shaft part transmission through right side bevel gear pair, in this embodiment, left side bevel gear pair, right side bevel gear pair is including being fixed in the main drive axle bevel gear 10 that corresponds on the main drive axle part and being fixed in the auxiliary drive axle bevel gear 11 that corresponds on the auxiliary drive axle, main drive axle bevel gear 10 and auxiliary drive axle bevel gear 11 interlock transmission.
The left end of the left side transmission shaft part, the right end of the right side transmission shaft part, the front end of the first auxiliary transmission shaft and the front end of the second auxiliary transmission shaft are torque transmission structures, each torque transmission structure comprises a transmission hole which is coaxially arranged with the corresponding transmission shaft, a key groove is formed in the hole wall of each transmission hole, and the axis of each torque transmission structure coincides with the axis of the corresponding degree of freedom of the joint of the trained limb when the training device is used. Still be provided with the transmission shaft locking mechanism who is used for carrying out the locking to the transmission shaft on the support body, transmission shaft locking mechanism is including being fixed in the locking cover 7 of support body left end and right-hand member, and left side transmission shaft part 9 is worn out in by the locking cover on left, and right side transmission shaft part 17 is worn out in by the locking cover on right side, and threaded connection has a top tightening screw 8 on the locking cover 7, when needs are to the final drive shaft locking, can realize the final drive shaft locking through screwing up the top tightening screw that corresponds. The torque transmission structures on the left side transmission shaft part and the right side transmission shaft part form a pair, and the torque transmission structures on the first auxiliary transmission shaft and the second auxiliary transmission shaft form a pair. The bracket body is provided with a rotation angle sensor (not shown in the figure) for detecting the rotation angle of the main transmission shaft, and the rotation angle sensor in the embodiment is an encoder.
When the device is used specifically, when a patient just enters a hospital, a doctor needs to judge the movement dysfunction of the patient, if the doctor needs to judge the right hand, the left transmission shaft part is locked, the right hand 4 is fixed on the right limb fixing frame 3, the patient applies torque to the right transmission shaft part through the limb fixing frame, the movement dysfunction condition of the patient is pre-judged through the indication value of the torque sensor, and the judgment on the left hand can be completed in the same way.
When the patient uses the rehabilitation training device for rehabilitation training by himself, as shown in fig. 1: the transmission shaft on the limb fixing piece is inserted into the transmission hole of the corresponding torque transmission structure, the locking of the driving shaft is released, the left hand and the right hand of a patient are respectively arranged on the corresponding limb fixing frame, the left hand and the right hand can apply strength in the same direction, the pitching elementary motion of the wrist can be assisted, the left hand and the right hand can apply strength in the opposite direction, and the countertraining can be performed on the pitching elementary motion of the wrist, so that the training of strength, speed and amplitude can be performed on the pitching elementary motion of the wrist joint, one hand of some patients has movement dysfunction, the healthy hand can completely provide a basis for learning and countertraining for the hand with movement dysfunction, external power is not needed, the patient can completely and truly perform rehabilitation training, and the problem of accidental injury of the patient caused by mechanical output of improper rotating speed and torque is completely avoided; of course, the patient can control the strength and the amplitude of learning and confrontation by himself without the assistance of nursing staff, thereby completely freeing the nursing staff and reducing the economic burden of the patient.
When the wrist joint needs to be rotated, as shown in fig. 4, the second transmission shaft 5 on the limb fixing frame is inserted into the corresponding transmission holes on the first auxiliary transmission shaft 12 and the second auxiliary transmission shaft 18, so that the rotation capability of the wrist joint can be recovered.
In other embodiments of the invention: the limb fixing frame can also be a foot fixing frame used for fixing feet or a corresponding limb fixing frame used for fixing other parts of the human body of the patient; the torque transmission structure can also be only one pair; the torque transmission structure can also be a structure which can realize the torque transmission with the limb fixing frame, such as a shaft or a coupling and the like with a key slot on the periphery.
Claims (10)
1. The utility model provides a rehabilitation training device, includes rehabilitation training support, its characterized in that: the rehabilitation training support comprises a support body of a shell-shaped structure and at least one pair of torque transmission structures, the axes of the two torque transmission structures in the same pair of torque transmission structures are overlapped or arranged in parallel, the two torque transmission structures in the same pair of torque transmission structures are in transmission connection through a synchronous torque transmission structure arranged on the support body, and the rehabilitation training device further comprises a limb fixing frame used for being connected with the corresponding torque transmission structures.
2. The rehabilitation trainer as claimed in claim 1, wherein: the synchronous torque transmission structure comprises a main transmission shaft, the axis of which extends along the left-right direction, and two torque transmission structures in the same pair of torque transmission structures are respectively arranged at two ends of the main transmission shaft.
3. The rehabilitation trainer as claimed in claim 2, wherein: the torque transmission structures are a first pair of torque transmission structures and a second pair of torque transmission structures, the two torque transmission structures in the first pair of torque transmission structures are coaxially arranged at two ends of the transmission shaft, the axes of the two torque transmission structures in the second pair of torque transmission structures are arranged in parallel, the axes of the second pair of torque transmission structures are perpendicular to the axis of the transmission shaft, and the two torque transmission structures in the second pair of torque transmission structures are in transmission connection with the transmission shaft through bevel gears.
4. The rehabilitation trainer as claimed in claim 2, wherein: the support body is further provided with a transmission shaft locking mechanism used for locking the main transmission shaft, and the main transmission shaft is provided with a torque sensor in series.
5. The rehabilitation trainer as claimed in claim 2, wherein: and a rotation angle sensor for detecting the rotation angle of the main transmission shaft is arranged on the bracket body.
6. A rehabilitation training support is characterized in that: the support body comprises a shell-shaped structure and at least one pair of torque transmission structures connected with corresponding limb fixing frames, the axes of the two torque transmission structures in the same pair of torque transmission structures are overlapped or arranged in parallel, and the two torque transmission structures in the same pair of torque transmission structures are in transmission connection through a synchronous torque transmission structure arranged on the support body.
7. The rehabilitation training stand of claim 6, wherein: the synchronous torque transmission structure comprises a main transmission shaft, the axis of which extends along the left-right direction, and two torque transmission structures in the same pair of torque transmission structures are respectively arranged at two ends of the main transmission shaft.
8. The rehabilitation training stand of claim 7, wherein: the torque transmission structures are a first pair of torque transmission structures and a second pair of torque transmission structures, the two torque transmission structures in the first pair of torque transmission structures are coaxially arranged at two ends of the transmission shaft, the axes of the two torque transmission structures in the second pair of torque transmission structures are arranged in parallel, the axes of the second pair of torque transmission structures are perpendicular to the axis of the transmission shaft, and the two torque transmission structures in the second pair of torque transmission structures are in transmission connection with the transmission shaft through bevel gears.
9. The rehabilitation training stand of claim 7, wherein: the support body is further provided with a transmission shaft locking mechanism used for locking the main transmission shaft, and the main transmission shaft is provided with a torque sensor in series.
10. The rehabilitation training stand of claim 7, wherein: and a rotation angle sensor for detecting the rotation angle of the main transmission shaft is arranged on the bracket body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010008955.7A CN111150604B (en) | 2020-01-06 | 2020-01-06 | Rehabilitation training device and rehabilitation training support |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010008955.7A CN111150604B (en) | 2020-01-06 | 2020-01-06 | Rehabilitation training device and rehabilitation training support |
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| CN111150604A CN111150604A (en) | 2020-05-15 |
| CN111150604B true CN111150604B (en) | 2021-11-16 |
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| CN112843626A (en) * | 2021-03-26 | 2021-05-28 | 河南翔宇医疗设备股份有限公司 | Limb rehabilitation training appliance |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7125365B2 (en) * | 2003-08-13 | 2006-10-24 | Mark Howard Krietzman | Moving stick exercise device |
| CN102000423B (en) * | 2010-12-27 | 2012-01-04 | 哈尔滨师范大学 | Vibrating training and monitoring device of isometric and multi-angle hip and leg combination force |
| ITRA20110014A1 (en) * | 2011-04-21 | 2012-10-22 | Technogym Spa | GINNICA MACHINE |
| CN102921156B (en) * | 2012-11-13 | 2014-10-08 | 孙国玺 | Resistance training machine for hexagram boxing waist-crotch conversion forces |
| US9377079B2 (en) * | 2013-04-10 | 2016-06-28 | Ultraflex Systems, Inc. | Bi-directional dampening and assisting unit |
| CN203971280U (en) * | 2014-08-08 | 2014-12-03 | 冯庆洋 | A kind of Tai Ji comprehensive body exercising power-increasing device |
| CN104887457B (en) * | 2015-06-11 | 2018-03-13 | 尚晓玉 | A kind of device for healing and training and its training stand |
| CN204840233U (en) * | 2015-08-04 | 2015-12-09 | 关静琴 | A taiji section of thick bamboo |
| CN107019617B (en) * | 2017-03-31 | 2019-04-30 | 清华大学 | A sitting balance rehabilitation training robot and its control method |
| CN108096809A (en) * | 2017-12-22 | 2018-06-01 | 北京工业大学 | Taiji push hands training two-dimensional force measurement platform |
| CN108042985A (en) * | 2017-12-26 | 2018-05-18 | 佛山市幻龙科技有限公司 | A kind of Tai Ji practice tricycle to generate electricity |
| CN211986205U (en) * | 2020-01-06 | 2020-11-24 | 河南牛帕力学工程研究院 | Rehabilitation training device and rehabilitation training support |
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