CN108670720A - A kind of lower limb rehabilitation robot system and its working method - Google Patents
A kind of lower limb rehabilitation robot system and its working method Download PDFInfo
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- CN108670720A CN108670720A CN201810561355.6A CN201810561355A CN108670720A CN 108670720 A CN108670720 A CN 108670720A CN 201810561355 A CN201810561355 A CN 201810561355A CN 108670720 A CN108670720 A CN 108670720A
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 22
- 238000000034 method Methods 0.000 title claims abstract description 13
- 210000003423 ankle Anatomy 0.000 claims abstract description 40
- 210000002683 foot Anatomy 0.000 claims abstract description 37
- 238000005192 partition Methods 0.000 claims abstract description 17
- 238000000926 separation method Methods 0.000 claims abstract description 5
- 239000000203 mixture Substances 0.000 claims description 3
- 238000000554 physical therapy Methods 0.000 description 6
- 208000007536 Thrombosis Diseases 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 210000003462 vein Anatomy 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 230000035876 healing Effects 0.000 description 2
- 208000005189 Embolism Diseases 0.000 description 1
- 206010028289 Muscle atrophy Diseases 0.000 description 1
- 208000010378 Pulmonary Embolism Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 201000011510 cancer Diseases 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 210000004072 lung Anatomy 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
Classifications
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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
-
- 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
-
- 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
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/12—Feet
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of lower limb rehabilitation robot system and its working methods, including processor module, apparatus for adjusting position, touch control display apparatus, ankle auxiliary device and main casing；Processor module, apparatus for adjusting position, touch control display apparatus, ankle auxiliary device are installed on main casing；The inside of main casing is equipped with the partition board A for separation, it is symmetrically fixed with supporting rack on the side wall of main casing, the main shaft of rotation is connected on supporting rack, the auxiliary spindle of rotation is connected on main shaft, leg is placed on by patient entrusts, instep is contacted with foot fixed plate, and leg and foot are fixed using fixed band and tape wrap；Montant slidably reciprocates on track module, and the leg of patient is driven to do kneebend, is counted during sliding；Foot swings to be contacted with pressure sensor, is sent pressure signal and is counted.
Description
Technical field
The present invention relates to healing robot technical field, specially a kind of lower limb rehabilitation robot system and its work side
Method.
Background technology
Currently, the patient and some grave illness that cannot leave the bed after some surgery large operations need the patient of long-term bed, because of hand
Incision pain caused by art or because the heavier bed rest time of the state of an illness is longer, parts of body cannot get due exercise, not only can shadow
The rehabilitation of patient is rung, can also cause disuse muscle atrophy, drop foot, lower limb function due to muscle cannot take exercise for a long time
Decline, especially can often cause lower limb vein thrombus to be formed.According to statistics, lower limb vein thrombus formation has become up to 18 clinical
One of common important complication of section office, incidence are up to 7%~47.1%, and embolus falls off and reaches lung and can cause mortality
Pulmonary embolism, according to the literature, lower limb vein thrombus have become the second cause of death for being only second to malignant tumour.
206910492 U of notification number CN, a kind of healing robot of auxiliary physical therapy of proposition, in robot ambulation, also
Can utilize physical therapy generator generate product to human body physical therapy, have the advantages that effect is more preferable, physical therapy generator be fumigator,
Moxa-moxibustion box, such product are exactly stifling physical therapy steam, and the steam etc. of moxa-moxibustion, physiotheraping effect is good, people's limb arm rest person of modern times's body limb arm
There is the spongy layer that one layer of cloth is wrapped in side, and is convenient for the diffusion of physical therapy product in this way, but exists not to the health of lower limb
It is operated again, the rehabilitation of lower limb needs medical staff to carry out manual operation, leads to the increase of complication and improves medical care people
Member's work load.
Invention content
The purpose of the present invention is to provide a kind of lower limb rehabilitation robot system and its working methods, to solve above-mentioned background
The problems such as proposing the increase of complication for patients in technology and improving medical staff's work load.
To achieve the above object, the present invention provides the following technical solutions：A kind of lower limb rehabilitation robot system, including processing
Device module, apparatus for adjusting position, touch control display apparatus, ankle auxiliary device and main casing；
The processor module, apparatus for adjusting position, touch control display apparatus, ankle auxiliary device are installed on main casing；
The inside of the main casing is equipped with the partition board A for separation, and supporting rack is symmetrically fixed on the side wall of main casing, support
It is connected with the main shaft of rotation on frame, the auxiliary spindle of rotation, the tail end of auxiliary spindle and rotation are connected on main shaft
The flexible connection of ankle placement plate, be fixed with for placing entrusting and being wrapped on leg for leg on main shaft and auxiliary spindle
Fixed band, shell are fixed on the outer wall of ankle placement plate；
Processor module and battery module A are each attached on partition board A, and the apparatus for adjusting position includes turntable module and cunning
Rail module, turntable module and track module are installed on the bottom wall of inner cavity of main casing, are driven and are slided by turning sheath in turntable module
Montant in rail module slidably reciprocates, and the top of montant passes through the bottom surface of the bar blocks and ankle placement plate of main casing offer sliding
It is fixed；
The touch control display apparatus includes display panel module and pressure count device, and display panel module and loudspeaker module are solid
It is scheduled on the top of main casing；
The ankle auxiliary device is fixed inside the shell, and ankle auxiliary device is by motor module, controller and battery module B
The motor shaft of composition, the connection of motor module output end passes through ankle placement plate, and is connected with foot's fixed plate, in foot's fixed plate
It is wound with tape wrap for fixing.
Preferably, grooved hole is opened up on the two sides of the ankle placement plate, is coated with pressure on the outer wall of slot
The rubber pad of sensor.
Preferably, the pressure count device uses the DHJ counters of 8 feet, pressure sensor and pressure count device normally opened tactile
Point is in parallel, and foot's fixed plate swings and the pressure sensor of both sides is in contact, pressure count device contact closure, display screen
Display is counted in module.
Preferably, the output end of the processor module respectively with turntable module, pressure count device and loudspeaker module
Connection, the input terminal of processor module is connected with battery module A, track module and pressure sensor respectively, processor module and
Connected by wireless module between controller, the output end of the turntable module is connect with track module, pressure count device it is defeated
Outlet is connect with display panel module, and the controller is connected with motor module, and input terminal is connect with battery module B.
The present invention provides another technical solution：A kind of working method of lower limb rehabilitation robot system, including following step
Suddenly：
S1：Start processor module and controller by remote control, send out signal make apparatus for adjusting position, pressure sensor,
Touch control display apparatus, loudspeaker module and ankle auxiliary device are in running order；
S2：Leg is placed on by patient entrusts, and instep is contacted with foot fixed plate, and using fixed band and tape wrap by leg
Portion and foot are fixed；
S3：Apparatus for adjusting position is by the rotation of turntable module, while the cooperation rotation of main shaft and auxiliary spindle, montant exist
It slidably reciprocates on track module, the leg of patient is driven to do kneebend, counted during sliding；
S4：Ankle auxiliary device receives the signal from wireless module, drives foot's fixed plate to carry out by motor module
Foot swings, the adjustable angle of the rotation of motor module, when rotated left end or right end and the pressure on rubber pad
Force snesor is contacted, and pressure signal is sent；
S5：Processor module be connected to the signal of pressure sensor is sent to after signal pressure count device pin it is short
Road is once equivalent to one pulse of input, then shows, is so superimposed, and exports be superimposed number on display panel module respectively,
Turntable module rotation is turned around, and display panel module counts primary, the two separate counts.
Preferably, be fixed with the partition board B separated vertically on the inner wall of the shell, controller and battery module B be located at every
The side of plate B, motor module are located at the other side of partition board B.
Compared with prior art, the beneficial effects of the invention are as follows：
This lower limb rehabilitation robot system and its working method, leg is placed on by patient entrusts, and instep is solid with foot
Fixed board contacts, and leg and foot are fixed using fixed band and tape wrap；Montant slidably reciprocates on track module, drives
Kneebend is done in the leg of patient, is counted during sliding；Foot swings to be contacted with pressure sensor,
Pressure signal is sent to be counted.
Description of the drawings
Fig. 1 is the module control principle figure of the present invention；
Fig. 2 is the overall structure figure of the present invention；
Fig. 3 is the apparatus for adjusting position structure chart of the present invention；
Fig. 4 is the ankle auxiliary device front elevation of the present invention；
Fig. 5 is the ankle auxiliary device vertical view of the present invention.
In figure：1, processor module；2, apparatus for adjusting position；21, turntable module；22, track module；221, montant；3、
Pressure sensor；4, touch control display apparatus；41, display panel module；42, pressure count device；5, loudspeaker module；6, wireless mould
Block；7, battery module A；8, ankle auxiliary device；81, motor module；811, foot's fixed plate；82, controller；83, battery mould
Block B；9, main casing；91, partition board A；92, supporting rack；93, main shaft；94, auxiliary spindle；95, ankle placement plate；951, rubber pad；
96, it entrusts；97, fixed band；98, shell；981, partition board B.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment one：
Referring to Fig. 1, a kind of lower limb rehabilitation robot system, including processor module 1, apparatus for adjusting position 2, touch-control are aobvious
Showing device 4, ankle auxiliary device 8 and main casing 9, the output end of processor module 1 respectively with turntable module 21, pressure count device 42
And loudspeaker module 5 connects, the input terminal of processor module 1 respectively with battery module A7, track module 22 and pressure sensing
Device 3 is connected, and is connected by wireless module 6 between processor module 1 and controller 83, output end and the sliding rail mould of turntable module 21
Block 22 connects, and the output end of pressure count device 42 is connect with display panel module 41, and controller 83 is connected with motor module 81, input
End is connect with battery module B83.
Referring to Fig. 2, processor module 1, apparatus for adjusting position 2, touch control display apparatus 4, ankle auxiliary device 8 are respectively mounted
On main casing 9；The inside of main casing 9 is equipped with the partition board A91 for separation, and supporting rack 92 is symmetrically fixed on the side wall of main casing 9,
It is connected with the main shaft 93 of rotation on supporting rack 92, the auxiliary spindle 94 of rotation, auxiliary spindle are connected on main shaft 93
94 tail end is flexibly connected with the ankle placement plate 95 of rotation, is fixed on main shaft 93 and auxiliary spindle 94 for placing leg
The fixation band 97 entrusted 96 and be wrapped on leg, shell 98 are fixed on the outer wall of ankle placement plate 95, ankle placement plate 95
Two sides on open up grooved hole, the rubber pad 951 with pressure sensor 3 is coated on the outer wall of slot；
Referring to Fig. 3, processor module 1 and battery module A7 are each attached on partition board A91, apparatus for adjusting position 2 includes
Turntable module 21 and track module 22, turntable module 21 and track module 22 are installed on the bottom wall of inner cavity of main casing 9, turntable mould
It is slidably reciprocated on block 21 by turning the montant 221 on sheath drive and track module 22, the top of montant 221 is carried across main casing 9
It is fixed for the bottom surface of the bar blocks and ankle placement plate 95 of sliding；Touch control display apparatus 4 includes display panel module 41 and pressure gauge
Number device 42, display panel module 41 and loudspeaker module 5 are each attached to the top of main casing 9；
Fig. 4-5 is please referred to, ankle auxiliary device 8 is fixed in shell 98, and ankle auxiliary device 8 is by motor module 81, control
Device 82 and battery module B83 compositions processed, the motor shaft of 81 output end of motor module connection passes through ankle placement plate 95, and is connected with
Foot's fixed plate 811, is wound with tape wrap for fixing in foot's fixed plate 811, pressure count device 42 using 8 feet DH48J
Counter, pressure sensor 3 and 42 normally opened contact of pressure count device are in parallel, the pressure that foot's fixed plate 811 swings with both sides
Force snesor 3 is in contact, 42 contact closure of pressure count device, and display is counted on display panel module 41.
Embodiment two：
Based on foregoing description, a kind of working method of lower limb rehabilitation robot system is also provided,
Step 1：Start processor module 1 and controller 82 by remote control, sending out signal makes apparatus for adjusting position 2, pressure
Sensor 3, touch control display apparatus 4, loudspeaker module 5 and ankle auxiliary device 8 are in running order；
Step 2：Leg is placed on and entrusts on 96 by patient, and instep is contacted with foot fixed plate 811, and uses fixed band
97 and tape wrap leg and foot are fixed；
Step 3：Apparatus for adjusting position 2 is fixed with vertical separation by the rotation of turntable module 21 on the inner wall of shell 98
Partition board B981, controller 82 and battery module B83 be located at the side of partition board B981, and motor module 81 is located at the another of partition board B981
Side, while the cooperation rotation of main shaft 93 and auxiliary spindle 94, montant 221 slidably reciprocate on track module 22, drive patient
Leg do kneebend, counted during sliding；
Step 4：Ankle auxiliary device 8 receives the signal from wireless module 6, drives foot solid by motor module 81
Fixed board 811 carries out foot and swings, the adjustable angle of the rotation of motor module 81, when rotated left end or right end with
Pressure sensor 3 on rubber pad 951 is contacted, and pressure signal is sent；
Step 5：Processor module 1 is connected to after signal the signal of pressure sensor 3 being sent to pressure count device 42
Pin, which is short-circuited, is once equivalent to one pulse of input, then shows 1, be so superimposed, institute is exported respectively on display panel module 41
The number of superposition, the rotation of turntable module 21 are turned around, and display panel module 41 counts once, the two separate counts.
To sum up：Leg is placed on and entrusts by lower limb rehabilitation robot system provided by the invention and its working method, patient
On 96, instep is contacted with foot fixed plate 811, and leg and foot are fixed using fixed band 97 and tape wrap；Montant 221
It slidably reciprocates on track module 22, the leg of patient is driven to do kneebend, counted during sliding；Foot is left
Right swing is contacted with pressure sensor 3, is sent pressure signal and is counted.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (6)
1. a kind of lower limb rehabilitation robot system, which is characterized in that including processor module (1), apparatus for adjusting position (2), touch
Control display device (4), ankle auxiliary device (8) and main casing (9)；
The processor module (1), apparatus for adjusting position (2), touch control display apparatus (4), ankle auxiliary device (8) are installed in
On main casing (9)；
The inside of the main casing (9) is equipped with the partition board A (91) for separation, and support is symmetrically fixed on the side wall of main casing (9)
Frame (92) is connected with the main shaft (93) of rotation on supporting rack (92), the pair of rotation is connected on main shaft (93)
Shaft (94), the tail end of auxiliary spindle (94) are flexibly connected with the ankle placement plate (95) of rotation, main shaft (93) and auxiliary spindle
(94) the fixed band (97) for entrusting (96) and be wrapped on leg for placing leg is fixed on, shell (98) is fixed on foot
On the outer wall of ankle placement plate (95)；
Processor module (1) and battery module A (7) are each attached on partition board A (91), and the apparatus for adjusting position (2) includes turning
Disk module (21) and track module (22), turntable module (21) and track module (22) are installed in the bottom wall of inner cavity of main casing (9)
On, it is slidably reciprocated in turntable module (21) by turning the montant (221) on sheath drive and track module (22), montant (221)
The top bottom surface of bar blocks and ankle placement plate (95) that passes through main casing (9) to provide sliding fix；
The touch control display apparatus (4) includes display panel module (41) and pressure count device (42), display panel module (41) and is raised
Sound device module (5) is each attached to the top of main casing (9)；
The ankle auxiliary device (8) is fixed in shell (98), and ankle auxiliary device (8) is by motor module (81), controller
(82) it passes through ankle placement plate (95) with battery module B (83) compositions, the motor shaft of motor module (81) output end connection and connects
It is connected to foot's fixed plate (811), foot's fixed plate is wound with tape wrap for fixing on (811).
2. a kind of lower limb rehabilitation robot system as described in claim 1, it is characterised in that：The ankle placement plate (95)
Grooved hole is opened up on two sides, and the rubber pad (951) with pressure sensor (3) is coated on the outer wall of slot.
3. a kind of lower limb rehabilitation robot system as described in claim 1, it is characterised in that：The pressure count device (42) is adopted
With the DH48J counters of 8 feet, pressure sensor (3) and pressure count device (42) normally opened contact are in parallel, foot's fixed plate (811)
It swings and is in contact with the pressure sensor of both sides (3), pressure count device (42) contact closure, on display panel module (41)
Count display.
4. a kind of lower limb rehabilitation robot system as described in claim 1, it is characterised in that：The processor module (1)
Output end is connect with turntable module (21), pressure count device (42) and loudspeaker module (5) respectively, processor module (1)
Input terminal is connected with battery module A (7), track module (22) and pressure sensor (3) respectively, processor module (1) and control
It is connected by wireless module (6) between device (83), the output end of the turntable module (21) is connect with track module (22), pressure
The output end of counter (42) is connect with display panel module (41), and the controller (82) is connected with motor module (81), input
End is connect with battery module B (83).
5. a kind of working method of lower limb rehabilitation robot system as described in claim 1, which is characterized in that including following step
Suddenly：
S1：Start processor module (1) and controller (82) by remote control, sending out signal makes apparatus for adjusting position (2), pressure pass
Sensor (3), touch control display apparatus (4), loudspeaker module (5) and ankle auxiliary device (8) are in running order；
S2：Leg is placed on by patient entrusts on (96), and instep is contacted with foot's fixed plate (811), and uses fixed band (97)
Leg and foot are fixed with tape wrap；
S3：Apparatus for adjusting position (2) is by the rotations of turntable module (21), while the cooperation of main shaft (93) and auxiliary spindle (94)
Rotation, montant (221) slidably reciprocate on track module (22), drive the leg of patient to do kneebend, in the process of sliding
In counted；
S4：Ankle auxiliary device (8) receives the signal from wireless module (6), drives foot to fix by motor module (81)
Plate (811) progress foot swings, the adjustable angle of the rotation of motor module (81), when rotated left end or right end
It is contacted with the pressure sensor (3) on rubber pad (951), sends pressure signal；
S5：Processor module (1) is connected to after signal the signal of pressure sensor (3) being sent to drawing for pressure count device (42)
Foot, which is short-circuited, is once equivalent to one pulse of input, then shows 1, be so superimposed, display panel module exports institute respectively on (41)
The number of superposition, turntable module (21) rotation are turned around, and display panel module (41) counts primary, the two separate counts.
6. a kind of working method of ankle pump motion counter as claimed in claim 5, which is characterized in that the shell (98)
The partition board B (981) separated vertically is fixed on inner wall, controller (82) and battery module B (83) are located at the one of partition board B (981)
Side, motor module (81) are located at the other side of partition board B (981).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810561355.6A CN108670720A (en) | 2018-06-04 | 2018-06-04 | A kind of lower limb rehabilitation robot system and its working method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810561355.6A CN108670720A (en) | 2018-06-04 | 2018-06-04 | A kind of lower limb rehabilitation robot system and its working method |
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| CN108670720A true CN108670720A (en) | 2018-10-19 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110279557A (en) * | 2019-07-02 | 2019-09-27 | 安徽工业大学 | A kind of lower limb rehabilitation robot control system and control method |
| CN110833494A (en) * | 2019-11-14 | 2020-02-25 | 刘进 | Medical treatment is with low limbs rehabilitation training auxiliary device |
| CN111494166A (en) * | 2020-06-04 | 2020-08-07 | 华中科技大学同济医学院附属协和医院 | Double-lower-limb movable brace for paraplegia patient and control method thereof |
| CN114948590A (en) * | 2022-05-11 | 2022-08-30 | 中国人民解放军陆军军医大学第一附属医院 | Recovered shank of using of department of neurology cerebrovascular disease tempers device |
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| CN201070443Y (en) * | 2007-06-29 | 2008-06-11 | 北京联合大学生物化学工程学院 | Knee joint rehabilitation instrument |
| CN102188315A (en) * | 2010-03-13 | 2011-09-21 | 司福中 | Rehabilitation training machine for heart failure patient |
| CN101829004A (en) * | 2010-04-14 | 2010-09-15 | 南京理工大学 | Bidirectional flexible knee-joint active-passive rehabilitation training device |
| US20150273273A1 (en) * | 2012-10-24 | 2015-10-01 | Hexar Systems Co., Ltd. | Portable rehabilitation exercise device for knee joint |
| CN206372451U (en) * | 2016-12-25 | 2017-08-04 | 潘炎 | Limbs synchronously train counting device |
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