CN115888026A - Evaluation and exercise training device for promoting lower limb functional recovery - Google Patents
Evaluation and exercise training device for promoting lower limb functional recovery Download PDFInfo
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- CN115888026A CN115888026A CN202211319134.0A CN202211319134A CN115888026A CN 115888026 A CN115888026 A CN 115888026A CN 202211319134 A CN202211319134 A CN 202211319134A CN 115888026 A CN115888026 A CN 115888026A
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- 238000012549 training Methods 0.000 title claims abstract description 120
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 52
- 238000011084 recovery Methods 0.000 title claims abstract description 13
- 230000001737 promoting effect Effects 0.000 title claims abstract description 12
- 238000011156 evaluation Methods 0.000 title abstract description 19
- 210000004394 hip joint Anatomy 0.000 claims abstract description 27
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 20
- 210000000629 knee joint Anatomy 0.000 claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 12
- 210000003423 ankle Anatomy 0.000 claims abstract description 6
- 210000003127 knee Anatomy 0.000 claims abstract description 4
- 210000001624 hip Anatomy 0.000 claims abstract description 3
- 210000001699 lower leg Anatomy 0.000 claims description 26
- 210000000689 upper leg Anatomy 0.000 claims description 25
- 210000002683 foot Anatomy 0.000 claims description 11
- 230000000386 athletic effect Effects 0.000 claims 1
- 210000003205 muscle Anatomy 0.000 abstract description 48
- 230000005714 functional activity Effects 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 11
- 230000006870 function Effects 0.000 description 7
- 230000009471 action Effects 0.000 description 4
- 210000003414 extremity Anatomy 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000004064 dysfunction Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 206010003694 Atrophy Diseases 0.000 description 1
- 206010051055 Deep vein thrombosis Diseases 0.000 description 1
- 206010023201 Joint contracture Diseases 0.000 description 1
- 206010057178 Osteoarthropathies Diseases 0.000 description 1
- 208000018737 Parkinson disease Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 208000030886 Traumatic Brain injury Diseases 0.000 description 1
- 206010047249 Venous thrombosis Diseases 0.000 description 1
- 230000037444 atrophy Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000009916 joint effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- 208000020431 spinal cord injury Diseases 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
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Abstract
The invention discloses an evaluation and exercise training device for promoting lower limb function recovery, which relates to the field of medical rehabilitation instruments and comprises: a base; the supporting frame is arranged on the base and comprises a seat area and an armrest area; the lower limb training mechanism is arranged on one side of the seat area and comprises a hip joint training component, a knee joint training component and an ankle joint training component which are arranged from top to bottom in sequence; the stress inductor is arranged in the lower limb training structure; a plurality of resistance generators disposed in the hip training assembly, the knee training assembly, and the ankle training assembly, respectively; the control unit is connected with the stress sensor and the resistance generator; the device can be used for evaluating the motor capacity of the muscle or muscle group of each joint controlled by the lower limb to perform targeted training on the part with reduced muscle strength, so that the patient can achieve the capacity of completing functional activities such as transferring, standing, walking and the like.
Description
Technical Field
The invention belongs to the field of medical rehabilitation instruments, and particularly relates to evaluation and exercise training equipment for promoting lower limb functional recovery.
Background
At present, most rehabilitation treatment equipment related to lower limb movement dysfunction has single evaluation or training function, only can carry out overall activity training of the lower limbs, and cannot carry out special evaluation and training aiming at a certain joint or a certain muscle group, so that the application is limited.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an evaluation and exercise training device for promoting lower limb function recovery, which can be used for evaluating the exercise capacity of muscles or muscle groups of each joint activity controlled by lower limbs of patients suffering from lower limb movement dysfunction caused by stroke, brain trauma, spinal cord injury, multiple sclerosis, parkinson's disease, osteoarthropathy and the like and carrying out targeted training on the part with reduced muscle strength to enable the patients to achieve the capacity of completing functional activities such as transfer, standing, walking and the like.
In order to achieve the above object, the present invention provides an evaluation and exercise training apparatus for promoting recovery of lower limb function, comprising:
a base;
the supporting frame is arranged on the base and comprises a seat area and a handrail area;
the lower limb training mechanism is arranged on one side of the seat area and comprises a hip joint training component, a knee joint training component and an ankle joint training component which are arranged from top to bottom in sequence;
a force sensor disposed in the lower limb training structure;
a plurality of resistance generators disposed in the hip training assembly, the knee training assembly, and the ankle training assembly, respectively;
and the control unit is connected with the stress sensor and the resistance generator.
Optionally, the hip joint training assembly comprises a horizontal rotating arm and two thigh fixing arms, the middle of the horizontal rotating arm is rotatably arranged on the seat area, and the upper ends of the two thigh fixing arms are respectively hinged with two ends of the horizontal rotating arm.
Optionally, the knee joint training assembly comprises two lower leg fixing arms, and the upper ends of the lower leg fixing arms are hinged to the lower ends of the upper leg fixing arms.
Optionally, the ankle joint training assembly comprises two foot fixing plates, and one end of each foot fixing plate is hinged to the lower end of the lower leg fixing arm.
Optionally, the thigh fixing arm and the shank fixing arm each include a fixed portion and a movable portion, and the fixed portion is slidably connected with the movable portion.
Optionally, the supporting frame includes a first horizontal rod and a second horizontal rod, the first horizontal rod is disposed on the base, a first supporting rod and a second supporting rod are disposed at two ends of the first horizontal rod respectively, two ends of the second horizontal rod are connected to the middle of the first supporting rod and the top of the second supporting rod respectively, the top of the first supporting rod is connected to the armrest area, and a seat area is slidably disposed on the second horizontal rod.
Optionally, the handrail district includes the bar that sets up along the horizontal direction, the bar is the U type, the middle part of bar with the top of first bracing piece is connected, the both ends of bar are equipped with anti-skidding sheath respectively.
Optionally, the control unit comprises a display screen connected to the top of the first support bar.
Optionally, the seat area includes a seat cushion, the seat cushion being slidably disposed on the second horizontal bar.
Optionally, the resistance generator comprises an adjustment knob.
The invention provides an evaluation and exercise training device for promoting lower limb function recovery, which has the beneficial effects that: the conventional lower limb function training instrument which is popular in the market has a single training effect, only can perform overall exercise training, cannot finish the targeted training and evaluation of a single muscle or muscle group, has high manufacturing cost, generally has a domestic price of more than ten thousand, can reach hundreds of thousands or even millions of imported products, causes the problems of relatively short equipment resources and small application range, can respectively evaluate the muscles or muscle groups for controlling the activities of each joint of the lower limbs, performs targeted training on the part with reduced muscle strength, enables a patient to achieve the capability of finishing the functional activities such as transfer, standing, walking and the like, and has the advantages of relatively economical material consumption, relatively simple and convenient operation, better use effect and wider application range.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts throughout.
Fig. 1 shows a perspective view of an evaluation and exercise training apparatus for promoting lower limb functional recovery according to an embodiment of the present invention.
FIG. 2 illustrates a front view of an evaluation and exercise training apparatus for promoting lower limb functional recovery, according to one embodiment of the present invention.
Fig. 3 shows a left side view of fig. 2.
Fig. 4 shows a top view of fig. 2.
Description of reference numerals:
1. a base; 2. a support frame; 3. a seating area; 4. a handrail region; 5. a lower limb training mechanism; 6. a hip joint training assembly; 7. a knee training component; 8. an ankle training component; 9. a horizontal rotating arm; 10. a thigh securing arm; 11. a shank fixing arm; 12. a foot fixing plate; 13. a first horizontal bar; 14. a second horizontal bar; 15. a first support bar; 16. a second support bar; 17. a grab rail; 18. a display screen; 19. a cushion.
Detailed Description
Preferred embodiments of the present invention will be described in more detail below. While the following describes preferred embodiments of the present invention, it should be understood that the present invention may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
The present invention provides an evaluation and exercise training apparatus for promoting functional recovery of lower limbs, comprising:
a base;
the supporting frame is arranged on the base and comprises a seat area and an armrest area;
the lower limb training mechanism is arranged on one side of the seat area and comprises a hip joint training component, a knee joint training component and an ankle joint training component which are sequentially arranged from top to bottom;
the stress inductor is arranged in the lower limb training structure;
a plurality of resistance generators respectively disposed in the hip joint training assembly, the knee joint training assembly, and the ankle joint training assembly;
and the control unit is connected with the stress sensor and the resistance generator.
Specifically, the evaluation training equipment is placed on the ground of a rehabilitation room through the base, the idler wheels are arranged at one end of the base, when the other end of the base is lifted up to enable the base to form a certain angle with the ground, the equipment can be moved easily, the base can be placed on the ground when the evaluation training equipment is used, the rehabilitation therapy can be firm and stable, and the evaluation training equipment is safer to use; the base is provided with a supporting frame, a seat area and a handrail area are provided, a platform for stabilizing force application and rest of the body is provided for a patient, so that the patient can conveniently and independently perform rehabilitation exercise, when the patient is evaluated and tested, the lower limb of the patient is fixed on a lower limb training structure without touching the handrail area and the seat area, the hip joint, the knee joint and the ankle joint are respectively subjected to flexion and extension actions, the muscle force level of main muscles or muscle groups around each joint is sensed through a stress sensor and displayed through a control unit; after the muscle strength level of each muscle group of the lower limb of the patient is evaluated and determined, a muscle training plan is made, and the resistance generator is adjusted to adjust the training resistance of each joint position of the lower limb training mechanism to a proper range, so that the muscles of the hip joint, the knee joint and the ankle joint can be subjected to proper muscle strength training, and the patient can be subjected to correct rehabilitation exercise.
Optionally, the hip joint training assembly comprises a horizontal rotating arm and two thigh fixing arms, wherein the middle part of the horizontal rotating arm is rotatably arranged on the seat area, and the upper ends of the two thigh fixing arms are respectively hinged with the two ends of the horizontal rotating arm.
Specifically, when the hip joint is trained, the hip joint is mainly trained to do flexion, extension, adduction, abduction and the like, the lower limb is tied on the lower limb training structure, the horizontal rotating arm is driven to rotate by the force generated by the muscle group of the hip joint, a stress sensor on the horizontal rotating arm can receive a stress value, and a resistance generator can also increase the rotation resistance of the horizontal rotating arm, so that the patient can train more scientifically and has better rehabilitation training effect; when the muscle group of the thigh moves, the thigh fixing arm can be driven to swing in different amplitudes and different directions, and the muscle group of the thigh can be trained and evaluated in a targeted manner.
Optionally, the knee joint training assembly comprises two lower leg fixing arms, the upper ends of which are hinged to the lower ends of the upper leg fixing arms.
Specifically, the shank fixing arm is hinged with the thigh fixing arm, so that the connection relation between a shank and a thigh can be simulated, and the thigh and the shank are respectively bound on the shank fixing arm and the shank fixing arm, so that the muscle strength level of the muscle group is evaluated, and the muscle group training is more targeted.
Optionally, the ankle joint training assembly comprises two foot fixing plates, one end of the foot fixing plate being hinged to the lower end of the lower leg fixing arm.
Specifically, the foot fixing plate is hinged with the shank fixing arm, the foot fixing plate is generally in a position relation perpendicular to the shank fixing arm, and when a patient tests, evaluates and trains hip joints, in order to improve evaluation accuracy and training effect, the resistance generators of the foot fixing plate and the shank fixing arm are adjusted to the maximum value through the control unit, so that the patient can only move the body through the hip joints, and the hip joints can be independently recovered; when the ankle joint is trained independently, the resistance generators of the crus fixing arm and the thigh fixing arm can be adjusted to the maximum value, the lower limb exerts force only through one force exerting point of the ankle joint, and the rehabilitation of the ankle joint muscle group is improved; when the hip joint, the knee joint and the ankle joint of the lower limb are respectively trained to have certain strength, the training equipment can be used for performing combined action, the coordinated movement capability and the matching capability of each joint muscle group are also exercised and improved, and the equipment is wider in application range.
When adopting this training equipment to carry out rehabilitation training, can set the different patterns to thigh fixed arm, shank fixed arm and ankle fixed plate's angle position each other, if set up the thigh fixed arm horizontal placement, the shank fixed arm is vertical placing, fixes patient's shank on this lower limb training mechanism, and the patient can train the muscle crowd at the rear portion of thigh, improves this training equipment's applied crowd like this.
Optionally, the thigh-securing arm and the shank-securing arm each comprise a fixed portion and a movable portion, the fixed portion being slidably connected with the movable portion.
Specifically, because the height and the lower limb length of the patient are different, the shank fixing arm and the thigh fixing arm are arranged to be of a structure with adjustable length, so that the patient is more suitable to use, and the position of the training is ensured to be more targeted.
Optionally, the support frame includes a first horizontal rod and a second horizontal rod, the first horizontal rod is disposed on the base, the two ends of the first horizontal rod are respectively provided with a first support rod and a second support rod, the two ends of the second horizontal rod are respectively connected with the middle of the first support rod and the top of the second support rod, the top of the first support rod is connected with the armrest area, and the second horizontal rod is slidably provided with a seat area.
Specifically, the support frame is used as a main bearing structure of a patient, the whole shape of the support frame simulates a frame of a bicycle, the second horizontal rod fixedly limits the distance between the two support rods, the upper parts of the two ends of the second horizontal rod are respectively provided with a handrail area and a seat area, and the seat area can slide on the second horizontal rod to adapt to the height of each patient.
Optionally, the handrail area includes the bar that sets up along the horizontal direction, and the bar is the U type, and the middle part of bar is connected with the top of first bracing piece, and the both ends of bar are equipped with anti-skidding sheath respectively.
Specifically, the handrail area comprises a U-shaped handrail rod, and a patient can hold the horizontal end and the two vertical ends, so that different support modes can be adopted in different rehabilitation projects; the protective sleeve can increase the friction force of the hand, so that in the early stage of rehabilitation, a patient can drive the body to do muscle group training of hip joints by means of hand strength.
Optionally, the control unit comprises a display screen connected to the top of the first support bar.
Specifically, set up the display screen in the upper portion of handrail district, patient and doctor can know through the display screen that the load of training is what and the ability of muscle is to what degree, and the patient also can adjust resistance generator according to the sensation of oneself in the training, avoids causing patient's discomfort in the rehabilitation training.
Optionally, the seat area comprises a seat cushion, the seat cushion being slidably disposed on the second horizontal bar.
Specifically, the seat district includes the cushion, and the cushion passes through gliding slide on connecting rod and the second horizon bar, and the connecting rod rotates with horizontal rotor arm to be connected, when patient's low limbs by low limbs training mechanism fixed with the patient needs the interim rest, can sit and take a rest on the cushion, when the patient carries out low limbs rehabilitation training, just leaves the cushion and carries out the muscle group training of each joint.
Optionally, the resistance generator comprises an adjustment knob.
Specifically, adjust knob adjusts the resistance of hip joint training subassembly, knee joint training subassembly and ankle joint training subassembly, and easy operation is swift like this, uses this training equipment to accept more to the old person.
Examples
As shown in fig. 1 to 4, the present invention provides an evaluation and exercise training apparatus for promoting recovery of lower limb function, comprising:
a base 1;
the supporting frame 2 is arranged on the base 1, and the supporting frame 2 comprises a seat area 3 and an armrest area 4;
the lower limb training mechanism 5 is arranged on one side of the seat area 3, and the lower limb training mechanism 5 comprises a hip joint training component 6, a knee joint training component 7 and an ankle joint training component 8 which are sequentially arranged from top to bottom;
the stress inductor is arranged in the lower limb training structure 5;
a plurality of resistance generators provided in the hip joint training assembly 6, the knee joint training assembly 7, and the ankle joint training assembly 8, respectively;
and the control unit is connected with the stress sensor and the resistance generator.
In this embodiment, the hip joint training assembly 6 comprises a horizontal rotating arm 9 and two thigh securing arms 10, wherein the middle part of the horizontal rotating arm 9 is rotatably arranged on the seat area, and the upper ends of the two thigh securing arms 10 are respectively hinged with the two ends of the horizontal rotating arm 9.
In this embodiment, the knee joint training assembly 7 comprises two lower leg fixing arms 11, the upper ends of the lower leg fixing arms 11 are hinged with the lower ends of the upper leg fixing arms 10.
In this embodiment, the ankle training assembly 8 includes two foot fixing plates 12, and one end of the foot fixing plate 12 is hinged to the lower end of the lower leg fixing arm 11.
In this embodiment, the thigh fixing arm 10 and the shank fixing arm 11 each include a fixed portion and a movable portion, and the fixed portion is slidably connected to the movable portion.
In this embodiment, the supporting frame 2 includes a first horizontal rod 13 and a second horizontal rod 14, the first horizontal rod 13 is disposed on the base, two ends of the first horizontal rod 13 are respectively provided with a first supporting rod 15 and a second supporting rod 16, two ends of the second horizontal rod 14 are respectively connected with a middle portion of the first supporting rod 15 and a top portion of the second supporting rod 16, the top portion of the first supporting rod 15 is connected with the armrest area 4, and the second horizontal rod 14 is slidably provided with the seat area 3.
In this embodiment, the handrail area 4 includes a handrail rod 17 arranged along the horizontal direction, the handrail rod 17 is U-shaped, the middle part of the handrail rod 17 is connected with the top of the first support rod 15, and the two ends of the handrail rod 17 are respectively sleeved with an anti-slip sheath.
In this embodiment, the control unit includes a display screen 18, and the display screen 18 is connected to the top of the first support bar 15.
In the present embodiment, the seat area 3 includes a seat cushion 19, and the seat cushion 19 is slidably disposed on the second horizontal bar 14.
In this embodiment, the resistance generator includes an adjustment knob.
In conclusion, when the training equipment evaluates the muscle strength level of the lower limbs of a patient, the two lower limbs of the patient are fixed on the lower limb training mechanism 5, firstly, the muscle strength of main muscles or muscle groups of each joint is evaluated, the hip joint performs flexion, extension, adduction and abduction actions to drive the horizontal rotating arm 9 and the thigh fixing arm 10 to move, so that the muscle strength of the main muscles or muscle groups around the hip joint is displayed on the display screen 18 through a sensor, and similarly, the muscle strength levels of the muscles around the knee joint and the ankle joint are evaluated by performing flexion and extension actions on the knee joint and the ankle joint; when the lower limbs of a patient are trained, after the muscle strength level of each muscle group of the lower limbs of the patient is determined through evaluation, the training resistance is adjusted to a proper range through screwing the resistance adjuster, so that the patient can do hip joint flexion, extension, adduction and abduction activities, and similarly, the proper muscle strength training is carried out on each muscle group of the lower limbs in the knee joint flexion and extension activities; the training equipment mainly aims at the condition that the muscle strength of the lower limbs is evaluated to be 0-2 grade, the lower limbs of a patient are also fixed on the equipment, assistance/passive training is selected in the display screen 18, the lower limb training mechanism 5 can automatically and respectively carry out hip joint bending, backward extension, inward contraction and outward extension activities, and knee and ankle joint bending and extending activities, so that each joint of the lower limbs of the patient is driven to carry out corresponding activity, the patient can also carry out intention training along with the activity of each training component, although the function can not lead the patient to obtain remarkable muscle strength training, the occurrence of common complications such as joint contracture, muscle accelerated atrophy, deep venous thrombosis and the like can be prevented.
While embodiments of the present invention have been described above, the above description is illustrative, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.
Claims (10)
1. An assessment and exercise training device for promoting functional recovery of a lower limb, comprising:
a base;
the supporting frame is arranged on the base and comprises a seat area and an armrest area;
the lower limb training mechanism is arranged on one side of the seat area and comprises a hip joint training component, a knee joint training component and an ankle joint training component which are sequentially arranged from top to bottom;
a force sensor disposed in the lower limb training structure;
a plurality of resistance generators disposed in the hip training assembly, the knee training assembly, and the ankle training assembly, respectively;
and the control unit is connected with the stress sensor and the resistance generator.
2. The apparatus according to claim 1, wherein said hip joint training assembly comprises a horizontal rotating arm and two thigh-securing arms, wherein the middle portion of the horizontal rotating arm is rotatably disposed on said seating area, and the upper ends of the two thigh-securing arms are respectively hinged to the two ends of the horizontal rotating arm.
3. An assessment and exercise training apparatus for facilitating the functional recovery of the lower limbs according to claim 2 wherein said knee joint training assembly comprises two lower leg securing arms, the upper ends of which are hinged to the lower ends of said thigh securing arms.
4. The apparatus of claim 3, wherein the ankle joint training assembly comprises two foot fixing plates, one end of which is hinged to the lower end of the lower leg fixing arm.
5. The apparatus of claim 3, wherein said thigh-securing arm and said shank-securing arm each comprise a fixed portion and a movable portion, said fixed portion being slidably coupled to said movable portion.
6. The apparatus according to claim 1, wherein the support frame comprises a first horizontal bar and a second horizontal bar, the first horizontal bar is disposed on the base, the first and second support bars are disposed at two ends of the first horizontal bar, the second horizontal bar is connected at two ends of the second horizontal bar, the first support bar is connected at a top portion thereof to the armrest region, and the second horizontal bar is slidably disposed with the seat region.
7. The apparatus according to claim 6, wherein the handrail region comprises a handrail rod arranged in a horizontal direction, the handrail rod is U-shaped, the middle part of the handrail rod is connected with the top of the first supporting rod, and the two ends of the handrail rod are respectively sleeved with an anti-slip sheath.
8. The apparatus of claim 6, wherein the control unit comprises a display screen coupled to the top of the first support bar.
9. The apparatus according to claim 6, wherein said seating area comprises a seat cushion slidably disposed on said second horizontal bar.
10. The assessment and athletic training device of claim 6, wherein the resistance generator comprises an adjustment knob.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211319134.0A CN115888026A (en) | 2022-10-26 | 2022-10-26 | Evaluation and exercise training device for promoting lower limb functional recovery |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211319134.0A CN115888026A (en) | 2022-10-26 | 2022-10-26 | Evaluation and exercise training device for promoting lower limb functional recovery |
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| CN115888026A true CN115888026A (en) | 2023-04-04 |
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| CN202211319134.0A Pending CN115888026A (en) | 2022-10-26 | 2022-10-26 | Evaluation and exercise training device for promoting lower limb functional recovery |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101623547A (en) * | 2009-08-05 | 2010-01-13 | 燕山大学 | Lower limb rehabilitation medical robot used for paralytic patient |
| CN103892989A (en) * | 2014-04-16 | 2014-07-02 | 崔建忠 | Lower limb rehabilitation training robot and training method thereof |
| CN104983543A (en) * | 2015-07-29 | 2015-10-21 | 张士勇 | An intelligent lower limb rehabilitation training device |
| CN106539662A (en) * | 2015-09-17 | 2017-03-29 | 上海健康医学院 | Lower limb function recovery exercising robot |
-
2022
- 2022-10-26 CN CN202211319134.0A patent/CN115888026A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101623547A (en) * | 2009-08-05 | 2010-01-13 | 燕山大学 | Lower limb rehabilitation medical robot used for paralytic patient |
| CN103892989A (en) * | 2014-04-16 | 2014-07-02 | 崔建忠 | Lower limb rehabilitation training robot and training method thereof |
| CN104983543A (en) * | 2015-07-29 | 2015-10-21 | 张士勇 | An intelligent lower limb rehabilitation training device |
| CN106539662A (en) * | 2015-09-17 | 2017-03-29 | 上海健康医学院 | Lower limb function recovery exercising robot |
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