CN116807838B - A three-posture lower limb rehabilitation training robot - Google Patents
A three-posture lower limb rehabilitation training robotInfo
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- CN116807838B CN116807838B CN202310929197.6A CN202310929197A CN116807838B CN 116807838 B CN116807838 B CN 116807838B CN 202310929197 A CN202310929197 A CN 202310929197A CN 116807838 B CN116807838 B CN 116807838B
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- connecting rod
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- thigh
- lower limb
- hip joint
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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Abstract
The invention discloses a three-gesture lower limb rehabilitation training robot which comprises a frame, a lower limb exoskeleton device and a gesture conversion device, wherein the gesture conversion device comprises a pitching adjustment electric push rod, a connecting rod, a seat plate, a back plate, a partition plate, a lifting electric push rod, a back plate connecting block, a partition plate connecting rod and a seat plate frame, and the lower limb exoskeleton device comprises a guide rail, a threaded rod, a sliding block, a spring, a hip joint connecting block, a thigh upper connecting rod, a thigh lower connecting rod, a shank upper connecting rod, a shank lower connecting rod, a foot support, a hip joint motor, a hip joint speed reducer, a knee joint motor, a knee joint speed reducer, an ankle joint motor and an ankle joint speed reducer. The invention can realize the unordered restriction free switching of three postures of sitting, standing and lying, and can perform different lower limb rehabilitation training schemes under the three postures, provide the flexion and extension training of the hip joint, the knee joint and the ankle joint and the abduction movement of the hip joint without the assistance of additional power, and meet the rehabilitation training requirements of different rehabilitation stages.
Description
Technical Field
The invention relates to the field of lower limb rehabilitation, in particular to a three-posture lower limb rehabilitation training robot.
Background
With the accelerated development of aging, the problem of aged people is increasingly prominent, and the problem of aged people is an important social problem currently faced. The current medical treatment and living standard are continuously improved, and the requirements of the elderly on later life are also improved. The existing aged care problems mainly comprise (1) inconvenient actions caused by the decline of body functions of most of the aged, and the daily life cannot be completely self-care. (2) The exercise rehabilitation training is helpful for recovering the exercise capacity of the old, however, the traditional treatment method mainly depends on the experience of medical staff, is difficult to meet the training requirements of high strength and repeatability, and most old people with movement disorder are difficult to obtain scientific and effective rehabilitation training due to insufficient number of therapists. (3) At present, the lower limb rehabilitation robot is used by hospitals and rehabilitation institutions in multiple directions, most of the lower limb rehabilitation robots are huge in volume, and the requirements of home-based aged patients cannot be met. In this case, the demand for advanced rehabilitation devices has increased significantly.
At present, a plurality of institutions at home and abroad conduct intensive research on lower limb rehabilitation robots. In literature "Kawamoto,H.,Sankai,Y.(2002).Power Assist System HAL-3for Gait Disorder Person.In:[8]Miesenberger,K.,Klaus,J.,Zagler,W.(eds)Computers Helping People with Special Needs.ICCHP 2002.Lecture Notes in Computer Science,vol 2398.Springer,Berlin,Heidelberg.", HAL is a wearable walking assisting exoskeleton robot developed by tsukuba university, and is produced by japanese Cyberdyne, and mainly comprises exoskeleton frames, sensors, controllers and other structures, wherein the exoskeleton frames are mainly used for fixing limbs and transmitting power, the HAL is free from the limit of a running table, and a patient can exercise in an actual environment. But it is difficult for patients in early and middle stages of rehabilitation to maintain standing with their own strength, and such devices do not provide adequate support.
The patent document Shi Xiaohua, study of sitting/lying type lower limb rehabilitation robot [ D ]. Yan Shanda, 2014 discloses a sitting type lower limb rehabilitation robot which comprises two mechanical training legs and an adjustable seat, wherein one leg of the robot has two degrees of freedom, can realize rehabilitation training of hip joints and knee joints, and provides three rehabilitation training modes suitable for the rehabilitation robot system aiming at different conditions of patients, wherein the three rehabilitation training modes comprise passive training based on track traction, auxiliary training based on myoelectric control and active resistance training based on force tracking. However, the device can only perform leg training in two postures of sitting and lying, has no standing training, and can only be fixed at one position for training.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide the three-posture lower limb rehabilitation training robot.
The technical scheme for solving the technical problems is that the three-posture lower limb rehabilitation training robot is provided and is characterized by comprising a frame, a lower limb exoskeleton device and a posture conversion device;
The posture conversion device comprises a pitching adjusting electric push rod, a connecting rod, a seat plate, a back plate, a baffle plate, a lifting electric push rod, a back plate connecting block, a baffle plate connecting rod and a seat plate frame;
The bottom end of the baffle plate is hinged on the frame, one end of the pitching adjusting electric push rod is hinged on the frame, the other end of the pitching adjusting electric push rod is hinged on the middle part of the baffle plate, the middle part of the baffle plate is provided with a through groove, one end of the back plate connecting block is fixed on the back surface of the back plate, the back plate is slidably arranged on the baffle plate, the back plate connecting block penetrates through the through groove of the baffle plate and can slide along the through groove, one end of the lifting electric push rod is hinged on the bottom of the baffle plate, the other end of the lifting electric push rod is hinged with the other end of the back plate connecting block, one ends of two baffle plate connecting rods are respectively fixed on two sides of the bottom end of the baffle plate, the other ends of the two baffle plate connecting rods are hinged on the middle part of the seat plate frame, and the other ends of the two connecting rods are hinged on the tail end of the seat plate frame;
The lower limb exoskeleton device comprises a guide rail, a threaded rod, a sliding block, a spring, a hip joint connecting block, a thigh upper connecting rod, a thigh lower connecting rod, a shank upper connecting rod, a shank lower connecting rod, a foot rest, a hip joint motor, a hip joint speed reducer, a knee joint motor, a knee joint speed reducer, an ankle joint motor and an ankle joint speed reducer;
the guide rail is fixed in a transverse groove at the lower part of the backboard, the two sliding blocks are slidably arranged at the two ends of the guide rail and can slide along the guide rail, the threaded rod is rotatably arranged in the guide rail, the two sliding blocks are provided with threaded holes, the threaded rod is in threaded connection with the two sliding blocks, and the threaded rod rotates to enable the two sliding blocks to be close to or far away from each other;
Each sliding block is hinged with the upper end of one hip joint connecting block, and a spring is arranged between the sliding blocks and is used for limiting the rotation amplitude of the hip joint connecting block; the upper end of the thigh upper connecting rod is fixedly connected with the output shaft of the hip joint reducer, and the lower end of the thigh upper connecting rod is connected with the upper end of the thigh lower connecting rod;
The upper end of the upper leg connecting rod is fixedly connected with the shell of the knee joint motor and the shell of the knee joint speed reducer respectively, and the output shaft of the knee joint motor penetrates through a through hole at the upper end of the upper leg connecting rod to be connected with an input hole of the knee joint speed reducer;
The two sides of the lower end of the lower connecting rod of the lower leg are respectively and fixedly connected with the shell of the ankle joint motor and the shell of the ankle joint speed reducer, an output shaft of the ankle joint motor penetrates through a through hole at the lower end of the lower connecting rod of the lower leg to be connected with an input hole of the ankle joint speed reducer, and a foot support is fixedly connected with the output shaft of the ankle joint speed reducer.
Compared with the prior art, the invention has the beneficial effects that:
(1) The invention can realize the unordered restriction free switching of three postures of sitting, standing and lying, and can carry out different lower limb rehabilitation training schemes under the three postures, thereby meeting the rehabilitation training requirements of different rehabilitation stages.
(2) The invention can provide flexion and extension training of the hip joint, the knee joint and the ankle joint and abduction movement of the hip joint without additional power assistance.
(3) According to the gesture conversion device, through the linkage of the storage of the seat board and the adjustment of the angle of the back board, the gesture conversion can be completed by only two electric push rods, the control is simpler and more convenient, and the structure is simpler. And the seat board is skillfully stored, so that enough space is provided for leg training during standing.
(4) Each mechanical leg of the lower limb exoskeleton device can finish three-degree-of-freedom leg rehabilitation training, and the lower limb gait simulation is more accurate.
(5) The rear wheel driving device not only can assist walking to complete active and passive training under standing postures, but also can enable a product to be used as an electric wheelchair, and the functional diversity is increased.
(6) The sitting height, thigh length, shank length and hip width of the invention can be adjusted to meet different use requirements.
(7) The device has the advantages of simple structure, ingenious mechanical design, low manufacturing cost and strong universality.
Drawings
FIG. 1 is a perspective view of the overall structure of the present invention in a seated position;
FIG. 2 is a front view of the overall structure of the present invention in a seated position;
FIG. 3 is a perspective view of the overall structure of the present invention in a standing position;
FIG. 4 is a front elevational view of the overall structure of the present invention in a standing position;
FIG. 5 is a front elevational view of the overall structure of the present invention in a prone position;
FIG. 6 is an exploded view of the attitude transformation device of the present invention;
FIG. 7 is a schematic view of the lower extremity exoskeleton apparatus of the present invention;
fig. 8 is a schematic structural view of the rear wheel drive device of the present invention.
In the figure, 1, a frame, 2, a front wheel, 3, a lower limb exoskeleton device, 4, a control panel, 5, a posture conversion device and 6, a rear wheel driving device;
the device comprises a guide rail 3-1, a threaded rod 3-2, a sliding block 3-3, a spring 3-4, a hip joint connecting block 3-5, a thigh upper connecting rod 3-6, a thigh lower connecting rod 3-7, a shank upper connecting rod 3-8, a shank lower connecting rod 3-9, a foot rest 3-10, a hip joint motor 3-11, a hip joint speed reducer 3-12, a knee joint motor 3-13, a knee joint speed reducer 3-14, an ankle joint motor 3-15 and an ankle joint speed reducer 3-16;
the pitch adjusting electric push rod 5-1, the connecting rod 5-2, the seat board 5-3, the back board 5-4, the guide rail sliding block mechanism 5-5, the partition board 5-6, the lifting electric push rod 5-7, the back board connecting block 5-8, the partition board connecting rod 5-9 and the seat board frame 5-10;
rear wheel 6-1, shaft 6-2, shaft coupling 6-3, rear wheel reduction gear 6-4, rear wheel motor 6-5.
Detailed Description
Specific examples of the present invention are given below. The specific examples are provided only for further details of the present invention and do not limit the scope of the claims.
The invention provides a three-posture lower limb rehabilitation training robot (robot for short), which is characterized by comprising a frame 1, a lower limb exoskeleton device 3 and a posture conversion device 5;
The gesture conversion device 5 comprises a pitching adjustment electric push rod 5-1, a connecting rod 5-2, a seat board 5-3, a back board 5-4, a guide rail sliding block mechanism 5-5, a baffle plate 5-6, a lifting electric push rod 5-7, a back board connecting block 5-8, a baffle plate connecting rod 5-9 and a seat board frame 5-10;
The bottom end of the baffle 5-6 is hinged to the frame 1, one end of the pitching adjusting electric push rod 5-1 is hinged to the frame 1, the other end of the pitching adjusting electric push rod is hinged to the middle of the baffle 5-6, a through groove is formed in the middle of the baffle 5-6, one end of the back plate connecting block 5-8 is fixed to the back surface of the back plate 5-4, the back plate 5-4 is slidably mounted on the baffle 5-6 through the guide rail sliding block mechanism 5-5, the back plate connecting block 5-8 penetrates through the through groove of the baffle 5-6 and can slide along the through groove, one end of the lifting electric push rod 5-7 is hinged to the bottom of the baffle 5-6, the other end of the lifting electric push rod is hinged to the other end of the back plate connecting block 5-8, one ends of two baffle connecting rods 5-9 are respectively fixed to two sides of the bottom end of the baffle 5-6, the other ends of the baffle connecting rods are hinged to the middle of the seat plate frame 5-10, one ends of the two connecting rods 5-2 are hinged to the middle of the back plate 5-4, the other ends of the baffle connecting rods are hinged to the tail ends of the seat plate frame 5-10, the other ends of the baffle plate connecting block 5-3 are hinged to the tail ends of the baffle frame 5-10, the baffle plate 5-3 is fixed to the seat frame 5-10;
The seat board frame 5-10, the partition board 5-6, the back board 5-4 and the connecting rod 5-2 form a crank slide block mechanism, the partition board 5-6 is used as a frame, the back board 5-4 is used as a slide block, and the seat board frame 5-10 is used as a crank. The backboard 5-4 moves and drives the seat board 5-3 to do rotary motion.
The lower limb exoskeleton device 3 comprises a guide rail 3-1, a threaded rod 3-2, a sliding block 3-3, a spring 3-4, a hip joint connecting block 3-5, an upper thigh connecting rod 3-6, a lower thigh connecting rod 3-7, an upper shank connecting rod 3-8, a lower shank connecting rod 3-9, a foot support 3-10, a hip joint motor 3-11, a hip joint speed reducer 3-12, a knee joint motor 3-13, a knee joint speed reducer 3-14, an ankle joint motor 3-15 and an ankle joint speed reducer 3-16;
The two sliding blocks 3-3 are arranged at the two ends of the guide rail 3-1 in a sliding way, the threaded rod 3-2 is rotatably arranged in the guide rail 3-1, the two sliding blocks 3-3 are provided with threaded holes, the threaded rod 3-2 is in threaded connection with the two sliding blocks 3-3, and the threaded rod 3-2 rotates to enable the two sliding blocks 3-3 to be close to each other or far away from each other;
each sliding block 3-3 is hinged with the upper end of one hip joint connecting block 3-5, a spring 3-4 is arranged between the sliding blocks, and the spring 3-4 is used for limiting the rotation amplitude of the hip joint connecting block 3-5, so that the hip joint connecting block 3-5 can only rotate by a small amplitude relative to the sliding blocks 3-3, and a user can perform abduction movement of the hip joint by himself or herself;
The two sides of the lower end of the hip joint connecting block 3-5 are respectively and fixedly connected with the shell of the hip joint motor 3-11 and the shell of the hip joint reducer 3-12, and the output shaft of the hip joint motor 3-11 passes through the through hole of the lower end of the hip joint connecting block 3-5 to be connected with the input hole of the hip joint reducer 3-12;
The two sides of the upper end of the upper leg connecting rod 3-8 are respectively and fixedly connected with the shell of the knee joint motor 3-13 and the shell of the knee joint reducer 3-14, the output shaft of the knee joint motor 3-13 passes through the through hole at the upper end of the upper leg connecting rod 3-8 and is connected with the input hole of the knee joint reducer 3-14, the lower end of the lower thigh connecting rod 3-7 is fixedly connected with the output shaft of the knee joint reducer 3-14, and the lower end of the upper leg connecting rod 3-8 is connected with the upper end of the lower leg connecting rod 3-9;
The two sides of the lower end of the lower leg connecting rod 3-9 are respectively and fixedly connected with the shell of the ankle joint motor 3-15 and the shell of the ankle joint speed reducer 3-16, an output shaft of the ankle joint motor 3-15 penetrates through a through hole at the lower end of the lower leg connecting rod 3-9 to be connected with an input hole of the ankle joint speed reducer 3-16, and the foot support 3-10 is fixedly connected with an output shaft of the ankle joint speed reducer 3-16.
Preferably, a plurality of hinge points are arranged on the back plate 5-4, a plurality of hinge points are arranged on the seat plate frame 5-10, and the hinge positions of the two ends of the connecting rod 5-2 and the back plate 5-4 and the seat plate frame 5-10 are adjustable according to the height of a user.
Preferably, the back plate 5-4 is provided with a strap for securing the waist of the user.
Preferably, the lifting electric push rod 5-7 adopts a push rod with a brake or a push rod with a self-locking function, and the push rod with the self-locking function can adopt a linear electric push rod manufactured by Linak (Linano gram) company.
Preferably, two sliders 3-3 are connected to both ends of one strap for securing the hip of the user.
Preferably, the lower end of the upper thigh link 3-6 is removably connected (preferably by bolting) with the upper end of the lower thigh link 3-7 to adjust the length to accommodate different user thigh lengths.
Preferably, straps are provided on the upper thigh links 3-6 and/or the lower thigh links 3-7 for securing the user's thighs.
Preferably, the lower end of the upper calf link 3-8 is removably connected (preferably by bolting) to the lower calf link 3-9 to adjust the length to accommodate different user calf lengths.
Preferably, the upper calf link 3-8 and/or the lower calf link 3-9 are provided with straps for securing the user's calf.
Preferably, the brackets 3-10 are provided with straps for securing the user's foot.
Preferably, the robot further comprises a control panel 4, wherein the frame 1 is provided with a handrail structure, and the control panel 4 is fixed on the handrail structure at the upper end of the frame 1.
Preferably, the robot further comprises a moving device, and the moving device is arranged on the bottom of the frame 1 and used for driving the whole robot to move.
Preferably, the moving device comprises two front wheels 2 and two rear wheel driving devices 6, wherein the two front wheels 2 are symmetrically arranged at two sides of the front end of the bottom of the frame 1 and used for controlling the advancing direction of the robot, and the two rear wheel driving devices 6 are symmetrically arranged at two sides of the rear end of the bottom of the frame 1 and used for providing advancing power for a user. When moving, steering is completed by adjusting the rotational speeds of the two rear wheel motors 6-5.
Preferably, each rear wheel drive 6 includes a rear wheel 6-1, an axle 6-2, a coupling 6-3, a rear wheel decelerator 6-4, and a rear wheel motor 6-5;
One end of the wheel shaft 6-2 is fixedly connected with the axle center of the rear wheel 6-1 in a coaxial manner, the middle of the wheel shaft passes through an upper shaft hole of the frame 1, the other end of the wheel shaft is fixedly connected with one end of the coupler 6-3, the other end of the coupler 6-3 is fixedly connected with an output shaft of the rear wheel speed reducer 6-4, a shell of the rear wheel motor 6-5 is fixed on the frame 1 and is fixedly connected with the shell of the rear wheel speed reducer 6-4, and an output shaft of the rear wheel motor 6-5 is fixedly connected with an input hole of the rear wheel speed reducer 6-4.
The working principle and the working process of the invention are as follows:
Before use, the hinge positions of the connecting rod 5-2, the backboard 5-4 and the seat board frame 5-10 are adjusted according to the height of a user, the connection positions of the upper thigh connecting rod 3-6 and the lower thigh connecting rod 3-7 are adjusted according to the thigh length of the user, the connection positions of the upper shank connecting rod 3-8 and the lower shank connecting rod 3-9 are adjusted according to the shank length of the user, and the distance between the two sliding blocks 3-3 is adjusted by rotating the threaded rod 3-2 according to the hip width of the user. The waist is fixed on the backboard 5-4 through the binding band, the thigh is fixed on the thigh upper connecting rod 3-6 and/or the thigh lower connecting rod 3-7 through the binding band, the shank is fixed on the shank upper connecting rod 3-8 and/or the shank lower connecting rod 3-9 through the binding band, and the foot is fixed on the foot rest 3-10 through the binding band.
In a sitting posture state, a user sits on the seat board 5-3, and under the driving of the knee joint motor 3-13 and the ankle joint motor 3-15, the upper shank connecting rod 3-7 and the lower shank connecting rod 3-8 drive the lower shank of the user to move so as to complete the flexion and extension movement of the knee joint, and the foot support 3-10 drives the foot to move so as to complete the flexion and extension movement of the ankle joint.
When a user changes from sitting to standing, the knee joint motor 3-13 transmits power to the upper shank connecting rod 3-8 and the lower shank connecting rod 3-9 after decelerating through the knee joint decelerator 3-14 to drive the lower shank of the user to retract downwards towards the seat plate 5-3, and meanwhile, the ankle joint motor 3-15 transmits power to the foot support 3-10 after decelerating through the ankle joint decelerator 3-16 to adjust the feet of the user to be in a horizontal state. Then lifting the electric push rod 5-7 to drive the back plate 5-4 to move upwards to drive the upper body of a user to move upwards, simultaneously driving the seat plate 5-3 to rotate around the partition plate 5-6 through the connecting rod 5-2, simultaneously transmitting power to the upper thigh connecting rod 3-6 and the lower thigh connecting rod 3-7 after the reduction of the hip joint speed reducer 3-12 by the hip joint motor 3-11 to drive the thigh of the user to rotate around the hip joint to a vertical state, transmitting power to the upper shank connecting rod 3-8 and the lower shank connecting rod 3-9 after the reduction of the knee joint speed reducer 3-13 by the knee joint motor 3-13 to drive the lower shank of the user to rotate around the knee joint to a vertical state, and simultaneously transmitting power to the foot support 3-10 through the ankle joint speed reducer 3-16 by the ankle joint motor 3-15 to adjust the foot of the user to be in a horizontal state, so that the user stands straight and stands.
In the standing state, the electric push rod 5-7 is lifted to stop working, a user can perform gait training under the drive of the lower limb exoskeleton device 3, the gait training comprises bending and stretching movements of hip joints, knee joints and ankle joints, the walking, leg stretching, leg lifting and other movements can be completed, meanwhile, the rear wheel driving device 6 can drive the robot to advance to match with the walking movements, in addition, the user can perform abduction movements of the hip joints with a certain amplitude by himself, the movements are performed independently by the patient, no additional power assistance is needed, the patient is in a standing state, one leg stands in a vertical state, the other leg performs abduction movements, at the moment, the hip joint connecting blocks 3-5 rotate around the sliding blocks 3-3, and the springs 3-4 limit the rotation angle.
The change of the standing posture to the sitting posture of the user is the reverse process of changing the sitting posture to the standing posture, and the description is omitted.
When a user changes from sitting to prone, the knee joint motor 3-13 transmits power to the upper shank connecting rod 3-8 and the lower shank connecting rod 3-9 after decelerating through the knee joint decelerator 3-14, and drives the lower shank of the user to retract downwards from the seat board 5-3; lifting an electric push rod 5-7 to drive a back plate 5-4 to move upwards to drive a user to move upwards, simultaneously driving a seat plate 5-3 to rotate around a partition plate 5-6 through a connecting rod 5-2, transmitting power to a thigh upper connecting rod 3-6 and a thigh lower connecting rod 3-7 after a hip joint motor 3-11 is decelerated through a hip joint decelerator 3-12 to drive a user thigh to rotate around a hip joint, transmitting power to a shank upper connecting rod 3-8 and a shank lower connecting rod 3-9 after a knee joint motor 3-13 is decelerated through a knee joint decelerator 3-14 to drive a user shank to rotate around a knee joint, simultaneously, transmitting power to a foot support 3-10 through an ankle joint decelerator 3-16 to adjust the foot of the user to be in a horizontal state, and when the user is in a semi-upright state (about half of a stroke during sitting and standing conversion), adjusting the push rod 5-1 to drive the partition plate 5-6 to rotate around the frame 1 to drive the whole body of the user to be in a horizontal state.
In the prone position, the user can bend and stretch the hip joint, the knee joint and the ankle joint under the drive of the lower limb exoskeleton device 3, and can complete the actions of leg lifting, leg stretching and the like.
The change of the sitting posture from the prone position to the sitting posture is the reverse process of changing the sitting posture to the prone position, and will not be repeated.
When the user changes from standing to prone, the hip motor 3-11, the knee motor 3-13 and the ankle motor 3-15 drive the thigh upper connecting rod 3-6, the thigh lower connecting rod 3-7, the shank upper connecting rod 3-8 and the shank lower connecting rod 3-9 to drive the knee joint to bend forwards and take a half step (about 20 cm) forwards, the electric push rod 5-7 is lifted to drive the back plate 5-4 to move downwards to drive the upper body of the user to move downwards, when the user is in a half-standing state (about half of the stroke when the sitting is converted), the seat plate 5-3 contacts the shank of the user, and the pitching adjusting push rod 5-1 drives the baffle plate 5-6 to rotate around the frame 1 to drive the whole body of the user to be in a horizontal state.
The change of the prone position to the standing position is the reverse process of changing the standing position to the prone position, and will not be repeated.
The invention is applicable to the prior art where it is not described.
Claims (10)
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| CN117257612A (en) * | 2023-11-01 | 2023-12-22 | 吉林大学 | An exoskeleton test bed for hip, knee and ankle rehabilitation and its active control method |
| CN118649032B (en) * | 2024-06-03 | 2025-03-18 | 国家康复辅具研究中心 | A ramp self-balancing device and a multi-posture wheelchair |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105411813A (en) * | 2015-12-29 | 2016-03-23 | 华南理工大学 | Wearable bionic exoskeleton mechanical leg rehabilitation device |
| CN110025455A (en) * | 2019-05-22 | 2019-07-19 | 掣京机器人科技（上海）有限公司 | A kind of four limbs exoskeleton rehabilitation robot |
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| CN103892987B (en) * | 2012-12-25 | 2015-11-25 | 上海璟和技创机器人有限公司 | A kind of lower limbs rehabilitation training robot |
| CN111821114B (en) * | 2020-08-20 | 2022-03-15 | 河北工业大学 | Human body posture transformation robot |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105411813A (en) * | 2015-12-29 | 2016-03-23 | 华南理工大学 | Wearable bionic exoskeleton mechanical leg rehabilitation device |
| CN110025455A (en) * | 2019-05-22 | 2019-07-19 | 掣京机器人科技（上海）有限公司 | A kind of four limbs exoskeleton rehabilitation robot |
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