CN115554103B - A weight-reduction device for lower limb walking training and a lower limb walking training system - Google Patents
A weight-reduction device for lower limb walking training and a lower limb walking training systemInfo
- Publication number
- CN115554103B CN115554103B CN202211187409.XA CN202211187409A CN115554103B CN 115554103 B CN115554103 B CN 115554103B CN 202211187409 A CN202211187409 A CN 202211187409A CN 115554103 B CN115554103 B CN 115554103B
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- cable
- weight reduction
- lower limb
- weight
- walking
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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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
-
- 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
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- 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
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
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- 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
本发明公开了一种下肢行走训练减重装置及下肢行走训练系统，该减重装置包括第一减重机构、第二减重机构和同步机构，第一减重机构的第一线缆分别与同步机构和机械腿组件相连，第二减重机构的第二线缆分别与同步机构和患者相连；其中，同步机构包括驱动单元和滑动单元，驱动单元与滑动单元动力连接，第一线缆和第二线缆分别与滑动单元相连，驱动单元驱动滑动单元下移进而带动第一线缆和第二线缆同步上拉机械腿组件和患者进行同步减重。本发明将患者减重和机械腿组件减重整合到一个减重装置中，患者在下肢行走训练时可以对患者和机械腿组件进行同步减重，提高了下肢行走康复训练的舒适性和安全性。
This invention discloses a weight-reduction device and system for lower limb walking training. The weight-reduction device includes a first weight-reduction mechanism, a second weight-reduction mechanism, and a synchronization mechanism. A first cable of the first weight-reduction mechanism is connected to both the synchronization mechanism and the mechanical leg assembly. A second cable of the second weight-reduction mechanism is connected to both the synchronization mechanism and the patient. The synchronization mechanism includes a drive unit and a sliding unit. The drive unit is poweredly connected to the sliding unit. The first and second cables are connected to the sliding unit. The drive unit drives the sliding unit downwards, thereby causing the first and second cables to synchronously pull the mechanical leg assembly and the patient upwards for synchronized weight reduction. This invention integrates patient weight reduction and mechanical leg assembly weight reduction into a single weight-reduction device. During lower limb walking training, the patient and the mechanical leg assembly can undergo synchronized weight reduction, improving the comfort and safety of lower limb walking rehabilitation training.
Description
Technical Field
The invention belongs to the technical field of medical equipment, and particularly relates to a weight reduction device for lower limb walking training and a lower limb walking training system.
Background
The number of patients with lower limb dysfunction commonly caused by factors such as aging population, nervous system diseases such as cerebral apoplexy and accidents has a trend of rapid increase. Traditional low limbs rehabilitation training is accomplished relevant training by rehabilitation engineer guide patient, and inefficiency, human cost is high. Along with the progress of science and technology, lower limb rehabilitation robot technology is gradually introduced into the field of medical rehabilitation, lower limbs of patients can be tied on mechanical leg assemblies, and the mechanical leg assemblies guide the patients to complete related training. When the lower limb is used for walking training, the lower limb of the patient is insufficient to support the weight of the lower limb and the weight of the mechanical leg assembly, and a special weight reduction system is required to bear a part or all of the weight, so that the patient can be helped to complete rehabilitation training better.
At present, the common weight reduction system for lower limb walking training is characterized in that the weight reduction of a patient and the weight reduction of a mechanical leg assembly belong to two independent devices. The weight reduction of the patient is realized by a suspension load-reducing mechanism, the weight reduction of the mechanical leg assembly is passively followed by the parallelogram unit by means of built-in spring elements, and the two weight-reducing devices are coupled together by binding the mechanical legs and the legs of the patient. Because the two weight reducing mechanisms are relatively independent, when the lower limb walking is trained, the weight of the patient floats up and down, and the weight of the mechanical leg component of the existing weight reducing system for the lower limb walking cannot be reduced by the patient to keep real-time synchronization, so that the mechanical leg component and the leg of the patient are pulled at the binding position, the lower limb walking training of the patient is not facilitated, and the rehabilitation effect is influenced.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention aims to provide a lower limb walking training weight-reducing device capable of keeping a weight-reducing mechanism of a patient and a weight-reducing mechanism of a mechanical leg assembly synchronous.
The invention further aims to provide a lower limb walking training system with the lower limb walking training weight reducing device.
In order to achieve the aim, the first aspect of the invention provides a lower limb walking weight-reducing device, which comprises a first weight-reducing mechanism, a second weight-reducing mechanism and a synchronizing mechanism, wherein a first cable of the first weight-reducing mechanism is respectively connected with the synchronizing mechanism and a mechanical leg assembly, a second cable of the second weight-reducing mechanism is respectively connected with the synchronizing mechanism and a patient, the synchronizing mechanism comprises a driving unit and a sliding unit, the driving unit is in power connection with the sliding unit, the first cable and the second cable are respectively connected with the sliding unit, and the driving unit drives the sliding unit to move downwards so as to drive the first cable and the second cable to synchronously pull up the mechanical leg assembly and the patient for synchronous weight reduction.
The sliding unit comprises a first guide rail and a first sliding block, wherein the first guide rail is arranged in the vertical direction, the first sliding block is arranged on the first guide rail in a sliding mode, limiting mechanisms are respectively arranged at two ends of the first guide rail, and limiting positions of the first sliding block on the first guide rail are limited through the limiting mechanisms.
Further, the first weight reducing mechanism comprises a pulley assembly, a guide assembly and a first cable, wherein the pulley assembly is arranged above the synchronous mechanism, the mechanical leg assembly is arranged on the guide assembly, one end of the first cable is connected with the sliding unit, the first cable is tensioned and positioned through the pulley assembly, the other end of the first cable is connected with the guide assembly, and the driving unit is kept to vertically pull the mechanical leg assembly upwards through the first cable under the guiding action of the guide assembly.
Further, the guide assembly comprises a second guide rail and a second sliding block, the second guide rail is arranged in the vertical direction, the second sliding block is arranged on the second guide rail in a sliding mode, and the other end of the first cable is connected with the second sliding block.
Further, the second weight-reducing mechanism comprises a pulley assembly, a hanging frame and a second cable, wherein the pulley assembly is arranged above the synchronous mechanism, one end of the second cable is connected with the sliding unit, the second cable is tensioned and positioned through the pulley assembly, the other end of the second cable is connected with the hanging frame, and an interface connected with a patient wearing structure is arranged on the hanging frame.
Further, the second weight reduction mechanism further comprises an adjusting component, the adjusting component comprises a driving unit and a movable pulley block, the driving end of the driving unit is in power connection with the movable pulley block, a second cable passes through the pulley component and the movable pulley block to be positioned and guided to be connected with the hanging frame, the driving unit drives the movable pulley block to move along the horizontal direction, the second cable passing through the movable pulley block is driven to be tightened or released, and then the hanging height of the hanging frame is adjusted.
Further, a first tension sensor is arranged at the joint of the driving unit and the sliding unit, a second tension sensor is arranged at the joint of the second cable and the synchronous mechanism, and the suitability of the patient to tie up the mechanical leg assembly can be evaluated according to the relation among tension data sensed by the first tension sensor, the second tension sensor and the weight of the mechanical leg assembly.
The second aspect of the invention provides a lower limb walking training system, which comprises a support frame, a mechanical leg assembly and the lower limb walking weight-reducing device according to the first aspect, wherein the lower limb walking weight-reducing device is arranged on the support frame, the mechanical leg assembly is arranged in a walking area of the support frame and is connected with a first weight-reducing mechanism of the lower limb walking weight-reducing device, a second cable of a second weight-reducing mechanism of the lower limb walking weight-reducing device is suspended in the walking area and is connected with a patient in the walking area, and the mechanical leg assembly and the patient are synchronously pulled up by the synchronous mechanism through the first weight-reducing mechanism and the second weight-reducing mechanism to synchronously reduce weight.
Further, a ramp is also arranged between the walking area and the ground.
Further, the walking training device is arranged in the walking area, and a patient performs walking training in the walking area through the walking training device.
According to the invention, the weight reduction of the patient and the weight reduction of the mechanical leg assembly are integrated into one weight reduction device, so that the patient can synchronously reduce the weight of the patient and the mechanical leg assembly during the lower limb walking training, and the comfort and the safety of the lower limb walking rehabilitation training are improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention as claimed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a lower limb walking training system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a synchronous mechanism of a weight-reducing device for lower limb walking training according to an embodiment of the present invention;
FIG. 3 is a schematic view of a weight-reducing mechanism of a weight-reducing device for lower limb walking training according to an embodiment of the present invention;
Fig. 4 is a schematic diagram illustrating a connection mode between a first weight-reducing mechanism and a mechanical leg assembly of a weight-reducing device for walking training of lower limbs according to an embodiment of the present invention.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments can be embodied in many different forms and should not be construed as limited to the examples set forth herein, but rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art.
In describing embodiments of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the term "coupled" should be interpreted broadly, for example, as being fixedly coupled, detachably coupled, integrally coupled, mechanically coupled, electrically coupled, directly coupled, or indirectly coupled via an intermediate medium. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The terms "top," "bottom," "above," "below," and "in the right, upper," "left, right, up and down directions" are relative positions with respect to components of the device, such as the top and bottom substrates inside the device. It will be appreciated that the devices are versatile, irrespective of their orientation in space.
The terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or number of technical features indicated. Thus, a feature of a "first" or "second" as defined may include one or more such feature, either explicitly or implicitly. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the embodiments of the present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, the lower limb walking training system comprises a support frame 1, a mechanical leg assembly 2 and a lower limb walking weight-reducing device, wherein the lower limb walking weight-reducing device is arranged on the support frame 1, the mechanical leg assembly 2 is arranged in a walking area of the support frame 1 and is connected with a first weight-reducing mechanism 3 of the lower limb walking weight-reducing device, a second cable 41 of a second weight-reducing mechanism 4 of the lower limb walking weight-reducing device is suspended in the walking area and is connected with a patient in the walking area, and the synchronous mechanism 5 acts to synchronously pull up the mechanical leg assembly 2 and the patient through the first weight-reducing mechanism 3 and the second weight-reducing mechanism 4 to synchronously reduce weight. In practical application, the support frame 1 is composed of a base 11, an upper support 12, a left support 13 and a right support 14, a walking area is positioned on the base 11, and lower limb walking weight reducing devices are fixedly arranged on the upper support 12 and the left support 13.
In an embodiment of the present invention, as shown in fig. 2-4, the lower limb walking weight-reducing device includes a first weight-reducing mechanism 3, a second weight-reducing mechanism 4 and a synchronizing mechanism 5, wherein a first cable 31 of the first weight-reducing mechanism 3 is connected to the synchronizing mechanism 5 and the mechanical leg assembly 2, respectively, and a second cable 41 of the second weight-reducing mechanism 4 is connected to the synchronizing mechanism 5 and the patient, respectively.
As shown in fig. 2, the synchronization mechanism 5 includes a driving unit 51 and a sliding unit 52, the driving unit 51 is in power connection with the sliding unit 52, the first cable 31 and the second cable 41 are respectively connected with the sliding unit 52, and the driving unit 51 drives the sliding unit 52 to move down so as to drive the first cable 31 and the second cable 41 close to the mechanical leg assembly 2 and the patient to synchronously pull up the mechanical leg assembly 2 and the patient for synchronous weight reduction.
In an embodiment of the present invention, the driving unit 51 includes a driving motor 511 and a winding drum 512, where the driving motor 511 is in power connection with the winding drum 512, and can drive the winding drum 512 to rotate for winding or unwinding. The winding drum 512 is wound with a third cable 53, and one end of the third cable 53 is connected to the sliding unit 52. The driving motor 511 drives the winding drum 512 to rotate reversely, and the winding drum 512 drives the third cable 53 to wind the wire, so as to drive the sliding unit 52 to move downwards. The sliding unit 52 moves downwards to drive the first cable 31 and the second cable 41 close to the mechanical leg assembly 2 and the patient to synchronously pull up the mechanical leg assembly 2 and the patient for synchronous weight reduction. The structure of the driving unit 51 of the present invention is not limited to this, and other driving structures such as a motor, a screw, and the like may be used, and the present invention is not limited to this.
In an embodiment of the present invention, the sliding unit 52 includes a first rail 521 and a first slider 522, where the first rail 521 is disposed along a vertical direction, the first slider 522 is slidably disposed on the first rail 521, two ends of the first rail 521 are respectively provided with a limiting mechanism, and a limiting mechanism is used to limit a sliding position of the first slider 522 on the first rail 521, so as to prevent the first slider 522 from sliding off the first rail 521 when the first rail 521 is lifted or lowered. The limiting mechanism in this embodiment includes an upper limiting block 61, a proximity switch 62, a lower limiting block 63 and a proximity switch 64, where the upper limiting block 61 is disposed at the top of the first rail 521 and is used for limiting the lifting of the first slider 522, and the lower limiting block 63 is disposed at the bottom of the first rail 521 and is used for limiting the lifting of the first slider 522. In addition, in order to prevent the first slider 522 from colliding with the upper limiting block 61 and the lower limiting block 63 to cause equipment damage, the upper end and the lower end of the first guide rail 521 are further provided with the proximity switches 62 and 64, the proximity switches 62 and 64 detect that the first slider 522 approaches to cut off a power supply, and the driving unit cuts off the band-type brake to avoid the collision of the first slider 522 with the upper limiting block 61 and the lower limiting block 63.
As shown in fig. 3 and 4, the first weight-reducing mechanism 3 comprises a pulley assembly 32, a guiding assembly 33 and the first cable 31, wherein the pulley assembly 32 is arranged above the synchronous mechanism 5, the mechanical leg assembly 2 is arranged on the guiding assembly 33, one end of the first cable 31 is connected with a first sliding block 522 of the sliding unit 52, the first cable 31 is positioned in a tensioning way through the pulley assembly 32, the other end of the first cable 31 is connected with the guiding assembly 33, and the driving unit 51 is kept to vertically pull the mechanical leg assembly 2 upwards through the first cable 31 under the guiding action of the guiding assembly 33.
In an embodiment of the present invention, as shown in fig. 4, the guiding assembly 33 includes a second guide rail 331 and a second slider 332, the second guide rail 332 is disposed along a vertical direction, the second slider 332 is slidably disposed on the second guide rail 331, and the other end of the first cable 31 is connected to the second slider 332. In this embodiment, two ends of the second rail 331 may also be provided with a limiting mechanism, for example, an upper limiting block 333 is disposed at the top of the second rail 331 to limit the lifting limit position of the second slider 332, and a lower limiting block 334 is disposed at the bottom of the second rail 331 to limit the lowering limit position of the second slider 332, so as to avoid the second slider 332 from sliding off the second rail 331 when sliding on the second rail 331. The mechanical leg assembly 2 may be fixed on the second slider 332 by a screw, and when the first cable 31 pulls the second slider 332 to move upwards, the mechanical leg assembly 2 may be driven to move upwards so as to reduce the weight of the mechanical leg assembly.
The second weight-reducing mechanism 4 comprises a pulley assembly 42, a hanging bracket 43 and a second cable 41, wherein the pulley assembly 42 is arranged above the synchronous mechanism 5, one end of the second cable 41 is connected with the sliding unit 52, the second cable is positioned in a tensioning way through the pulley assembly 42, the other end of the second cable 41 is connected with the hanging bracket 43, and an interface connected with a patient wearing structure is arranged on the hanging bracket 43. In practical application, the hanging belt worn by the patient is connected with the hanging frame 43, and the second cable 41 can drive the patient to move upwards to reduce the weight of the patient when the hanging frame 43 is pulled to move upwards. The pulley assembly 42 comprises fixed pulleys 421, 422, 423 by means of which the second cable 41 passing through is tensioned and positioned. It should be noted that the number of fixed pulleys used in the pulley assembly is not limited to this, and can be adjusted according to actual needs, and the invention is not limited to this.
In an embodiment of the present invention, the second weight-reducing mechanism 4 further includes an adjusting assembly 44, the adjusting assembly 44 includes a driving unit 441 and a movable pulley block 442, a driving end of the driving unit 441 is in power connection with the movable pulley block 442, the second cable 41 is positioned and guided by the pulley assembly 42 and the movable pulley block 442 to be connected with the hanger 43, and the driving unit 441 drives the movable pulley block 442 to move along a horizontal direction, so as to drive the second cable 41 passing over the movable pulley block 442 to tighten or release, thereby adjusting a hanging height of the hanger 43. The height of the lifting appliance also needs to be changed correspondingly due to different heights of patients. In practical application, the driving unit 441 may adopt a linear motor, the end of an electric pushing rod of the linear motor is connected with the movable pulley block 442, the lifting appliance at one end of the second cable 41 is adjusted to a proper height through the length change of the electric pushing rod, then the electric pushing rod of the linear motor is locked, and finally the mechanical leg assembly 2 and the leg of the patient are bound and fixed. At this time, the first cable 31 and the second cable 41 are synchronously tensioned, and the driving unit 51 may drive the first cable 31 and the second cable 41 to synchronously pull to synchronously reduce the weight of the patient and the mechanical leg assembly.
In an embodiment of the present invention, as shown in fig. 2, a first tension sensor 531 is disposed at the connection between the driving unit 51 and the sliding unit 52, a second tension sensor 411 is disposed at the connection between the second cable 41 and the synchronization mechanism 5, and the suitability of the patient-tie mechanical leg assembly 2 can be evaluated according to the relationship among the tension data sensed by the first tension sensor 531, the second tension sensor 411, and the weight of the mechanical leg assembly 2. The first tension sensor 531 monitors the weight loss F in real time, and the control unit controls the driving unit 51 to rotate, so that the weight loss value can be kept constant when the center of gravity of the patient floats up and down during walking. A second tension sensor 411 is installed between the second cable 41 and the first slider 522, and the tension sensor 411 monitors the patient weight loss weight F1 in real time, because the weight of the mechanical leg assembly is a fixed value F2, if the mechanical leg assembly is correctly bound with the leg of the patient, if no pulling occurs, f1+f2=f, if f1+f2< F, the mechanical leg assembly is incorrectly bound with the leg of the patient, and pulling occurs, and at this time, the weight of the mechanical leg assembly and the weight of a part of the patient are borne on the first cable 31, and the weight of the whole patient is not borne on the second cable 41. By adding the sensors 531, 441, whether the binding of the mechanical leg assembly and the patient is correct or not can be evaluated, and the binding error of the mechanical leg assembly and the leg of the patient is avoided.
In an embodiment of the present invention, a ramp 7 is further disposed between the walking area and the ground, and the patient can be conveniently moved to the walking area for walking training through the ramp 7. Note that, when the bottom base is omitted from the support frame or the base is low, the ramp may be omitted.
In an embodiment of the present invention, the lower limb walking training system further includes a walking training device 8, wherein the walking training device 8 is disposed in the walking area, and the patient performs walking training in the walking area through the walking training device 8. The walking training device 8 may include a running machine 81 and a handrail 82 disposed on a walking area, and a patient may perform various modes of walking training by means of the running machine 81 when performing the lower limb walking training. In addition, the handrail 82 is arranged on the walking area, so that the safety of the patient during walking training is further improved. The walking training device may be selectively mounted as needed, and the present invention is not limited thereto.
In conclusion, the weight reduction device integrates the weight reduction of the patient and the weight reduction of the mechanical leg assembly into one weight reduction device, and the patient can synchronously reduce the weight of the patient and the mechanical leg assembly during the lower limb walking training, so that the comfort and the safety of the lower limb walking rehabilitation training are improved.
Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It is to be understood that the invention is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (10)
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| CN202211187409.XA CN115554103B (en) | 2022-09-28 | 2022-09-28 | A weight-reduction device for lower limb walking training and a lower limb walking training system |
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| CN202211187409.XA CN115554103B (en) | 2022-09-28 | 2022-09-28 | A weight-reduction device for lower limb walking training and a lower limb walking training system |
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Citations (2)
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| CN109199786A (en) * | 2018-07-26 | 2019-01-15 | 北京机械设备研究所 | A kind of lower limb rehabilitation robot based on two-way neural interface |
| CN114795837A (en) * | 2022-04-26 | 2022-07-29 | 合肥工业大学 | Multi-mode lower limb multi-joint rehabilitation training device and training method |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7468023B2 (en) * | 2005-08-24 | 2008-12-23 | Cycling & Health Tech Industry R & D Center | Suspension system for walk training |
| CZ304313B6 (en) * | 2012-05-10 | 2014-02-26 | Michael Nikolaus KrĂĽsselin | Suspension device for transportation and lightening of patients, especially for dynamic alleviation or static suspension of patients with various types of damage of locomotory system |
| CN106794107A (en) * | 2014-06-18 | 2017-05-31 | 奥尔特格公司 | Balancing gate pit and lowering or hoisting gear for the differential air pressure systems with medical data collecting ability |
| KR20180010854A (en) * | 2016-07-22 | 2018-01-31 | 주식회사 사이보그-랩 | Mechanism and using method of training apparatus for leg rehabilitation with imbproved training usability |
| CN210872822U (en) * | 2019-08-08 | 2020-06-30 | 武汉大学中南医院 | Suspension type weight reducer |
| CN213250914U (en) * | 2020-04-30 | 2021-05-25 | 武汉与木造物工业设计有限公司 | Lower limb rehabilitation robot |
| CN214208855U (en) * | 2020-11-11 | 2021-09-17 | 杭州程天科技发展有限公司 | Follow hanger |
| CN213759307U (en) * | 2020-11-17 | 2021-07-23 | 连云港市第二人民医院(连云港市临床肿瘤研究所) | Training device for recovering lower limbs of hemiplegic patients |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109199786A (en) * | 2018-07-26 | 2019-01-15 | 北京机械设备研究所 | A kind of lower limb rehabilitation robot based on two-way neural interface |
| CN114795837A (en) * | 2022-04-26 | 2022-07-29 | 合肥工业大学 | Multi-mode lower limb multi-joint rehabilitation training device and training method |
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| CN115554103A (en) | 2023-01-03 |
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