CN202459981U - Body weight support device for lower limb gait training - Google Patents
Body weight support device for lower limb gait training Download PDFInfo
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- CN202459981U CN202459981U CN 201220069760 CN201220069760U CN202459981U CN 202459981 U CN202459981 U CN 202459981U CN 201220069760 CN201220069760 CN 201220069760 CN 201220069760 U CN201220069760 U CN 201220069760U CN 202459981 U CN202459981 U CN 202459981U
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- lower limb
- armrest
- arm
- guide rail
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Abstract
The utility model discloses a body weight support device for lower limb gait training. The device comprises a bottom support frame, an electric elevating column, a column, a bend column, a suspension arm, armrest mechanisms and lower limb dermaskeleton connecting mechanisms. The intermediate crossbeam of the bottom support frame is provided with a square pipe and a connecting square plate, the electric elevating column, the column, the bend column and the lifting arm are successively mounted above the connecting square plate. The left and right side surfaces of the column are provided with the armrest mechanisms, and each of the armrest mechanisms comprising an armrest frame, a support bend pipe, a fixing sleeve pipe and an armrest adjusting mechanism. The lower limb dermaskeleton connecting mechanisms are disposed under the lower portion of the armrest mechanism, and each of the lower limb dermaskeleton connecting mechanisms comprises a guiding rail slider mechanism, a guiding rail connecting seat, an adjusting block and a dermaskeleton connecting block. The device can be used for patients with different heights and different arm widths, can be used for relative lower limb rehabilitation training of patients who are lack of lower limb support capability, can be used for fixed body weight support walking training by combining with medical running machines, and can be used for movable walking training on the ground.
Description
Technical field
The utility model relates to a kind of medical rehabilitation apparatus, relates in particular to the lower limb gait training loss of weight bracing or strutting arrangement that a kind of hemiplegic patient of confession and other lower limb disabled use.
Background technology
Closely during the last ten years, along with the development of rehabilitation technique, the loss of weight support system is applied among the walking rehabilitation training more and more widely.The loss of weight support system is compared with traditional treatment, all has great advantage recovering walking ability, correct gait, improve balance, alleviate muscle cramp and reduce aspects such as cardiopulmonary load, has reduced rehabilitation therapist's working strength simultaneously, has improved the treatment security.
The patent No. is that 201010515112 Chinese patent discloses a kind of pneumatic control loss of weight support system; Comprise frame with base; Frame is provided with first and second fixed pulleys, and base is provided with cylinder, and the piston rod of cylinder is provided with movable pulley; On the base of cylinder both sides, be respectively arranged with third and fourth fixed pulley, be provided with capstan winch in the side of the 4th fixed pulley; The braces that is arranged on the frame below is connected with capstan winch through power sensor, first fixed pulley, second fixed pulley, the 3rd fixed pulley, movable pulley, the 4th fixed pulley through connection cord successively; Position sensor is installed on cylinder, and cylinder is connected with pneumatic control valve with pressure sensor respectively, and pneumatic control valve is connected with air pump station; Power sensor, position sensor, pressure sensor, pneumatic control valve and capstan winch are connected with computer respectively, and it can reach permanent Tension Control with tension value control within the specific limits.Yet its structure is comparatively complicated, and cost is higher relatively, has limited the range of application of product.
The utility model content
The purpose of the utility model is to provide a kind of lower limb gait training loss of weight bracing or strutting arrangement, and this loss of weight bracing or strutting arrangement can combine with medical treadmill at a slow speed, supplies hemiplegic patient and other lower limb disabled to use, and makes things convenient for the rehabilitation training of patient's lower limb function.This loss of weight support device structure is simple, and cost is low, convenient in carrying, and the arm adjustable height, the distance of left and right sides arm-rest frame is adjustable, and the patient that can adapt to different heights uses.
For realizing above-mentioned purpose, the utility model adopts following technical scheme:
A kind of lower limb gait training loss of weight bracing or strutting arrangement, it comprises bottom support frame, electric up-down post, column, the curved column of band, arm, armrest mechanism and lower limb exoskeleton bindiny mechanism;
This bottom support frame comprises both sides underframe and intermediate transverse girder side by side, and this intermediate transverse girder is provided with square tube, and the upper end of this square tube is provided with connection side's plate, and this connection side's plate is connected with the bottom of this electric up-down post;
The lower end of this column is connected with the curved column of this electric up-down post and this band respectively with the upper end, and this electric up-down post can be regulated the height of this column;
This arm is connected fastening with the curved column of this band, this arm is a U-shaped, comprises suspension bracket and the suspension ring of being located at this suspension bracket below;
The left and right side of this column is provided with armrest mechanism; This armrest mechanism comprises arm-rest frame, supports bend pipe, fixed sleeving and armrest adjustment mechanism; This arm-rest frame is connected through hinged mode with this support bend pipe, is provided with the position that alignment pin is used for fixing this arm-rest frame simultaneously; This fixed sleeving one end is connected with this column, and the other end inserts and should support in the bend pipe, and relative this fixed sleeving of this support bend pipe can slide under the adjusting of this armrest adjustment mechanism;
This armrest mechanism below is provided with lower limb exoskeleton bindiny mechanism, comprises guide rail slide block mechanism, guide rail Connection Block, adjustment piece, ectoskeleton contiguous block; This guide rail slide block mechanism is fixed in the connecting plate of this arm-rest frame below, comprises guide rail and slide block, and this slide block can slide along this guide rail; This guide rail Connection Block is a T shape sheet material, is fixedly connected with this slide block; This adjustment piece is a L-square material, and two right-angle sides are connected fixing with this guide rail Connection Block respectively with this ectoskeleton contiguous block.
Said support bend pipe is provided with bracing frame; Said armrest adjustment mechanism comprises adjusting screw(rod) and is located at the handwheel on this adjusting screw(rod), and the two ends of this adjusting screw(rod) are respectively the screw thread of positive and negative silk, with about this bracing frame be connected, rotate this handwheel positive left-hand thread is rotated simultaneously.
Be provided with castor in said underframe end, be connected fixing through the sheet that is threaded with said underframe; Be provided with lower margin at this castor adjacent, be connected with thread bush on the said underframe, the height of this castor and this lower margin can be regulated.
Said support bend pipe bottom is provided with the screw of the location that is used to slide.
Can be between said guide rail Connection Block and the said guide rail through a location screw lock.
On the connecting bolt between said adjustment piece and the said ectoskeleton contiguous block damping stage clip is housed.
The inboard of said column is provided with backrest, and the bottom of said column is provided with pushing hands.
The beneficial effect of the utility model is: the height of the arm of the utility model and left and right sides arm-rest frame height and spacing are adjustable; The patient that can be fit to different heights, different arm width uses; Improve comfort; Handrail tube can outwards rotate expansion, makes things convenient for the patient to take wheelchair and sails the middle suspender of dressing of device into; The guide rail slide block can be regulated front and back, makes the patient body lower limb be in comfortable locus with respect to this device; Damping stage clip in the lower limb exoskeleton bindiny mechanism can adapt to gravity center of human body's in the leg training process height change, makes walking step state smooth and easy naturally; Castor and lower margin are housed on the bottom support frame simultaneously, are convenient to the carrying of device and fixing when using, simultaneously simple in structure, cost is low, applied range.
Description of drawings
Fig. 1 is the structural representation of the utility model.
Fig. 2 is the vertical view of the utility model, and it mainly shows armrest mechanism.
Fig. 3 is the enlarged diagram of the lower limb exoskeleton bindiny mechanism of the utility model.
Drawing reference numeral: 1: bottom support frame; 1-1: underframe; 1-2: intermediate transverse girder; 1-3: square tube; 2: the electric up-down post; 3: column; 3-1: pushing hands; 4: the curved column of band; 5: arm; 5-1: suspension bracket; 5-2: suspension ring; 6: castor; 7: lower margin; 8: backrest; 9: armrest mechanism; 9-1: arm-rest frame; 9-2: support bend pipe; 9-3: fixed sleeving; 9-4: adjusting screw(rod); 9-5: handwheel; 9-6: bracing frame; 9-7: connecting plate; 10: lower limb exoskeleton bindiny mechanism; 10-1: guide rail slide block mechanism; 10-2: guide rail Connection Block; 10-3: adjustment piece; 10-4: ectoskeleton contiguous block; 10-5: damping stage clip; 10-6: dog screw.
The specific embodiment
Below only the characteristics of the utility model and the technique effect of desiring to reach are described, yet are not category in order to the desire protection of restriction the utility model institute with embodiment, close chat earlier bright.
To shown in Figure 3, the utility model provides a kind of lower limb gait training loss of weight bracing or strutting arrangement like Fig. 1, and it comprises bottom support frame 1, electric up-down post 2, column 3, the curved column 4 of band, arm 5, armrest mechanism 9 and lower limb exoskeleton bindiny mechanism 10.
Described bottom support frame 1 is to be connected to form by both sides underframe 1-1 and intermediate transverse girder 1-2 side by side; Be connected fixing between two underframe and the intermediate transverse girder through bolt; The centre of intermediate transverse girder is provided with square tube 1-3; The upper end of square tube 1-3 is provided with connection side's plate, and the bottom of connection side's plate and electric up-down post 2 links together through bolt.Be provided with castor 6 in underframe 1-1 end, be connected fixing through the sheet that is threaded with underframe 1-1.Be provided with lower margin 7 at castor 6 adjacents, be connected with thread bush on the underframe.The height of castor 6 and lower margin 7 can be regulated through screw thread, so that carry out moving and carrying of the utility model device.
The lower end of described column 3 is connected with the curved column 4 of electric up-down post 2 and band respectively with the upper end, and electric up-down post 2 can be regulated the height of column 3, and then regulates the height of armrest mechanism 9 and arm 5, and the patient who adapts to different heights uses.The inboard of column 3 is provided with backrest 8, is connected on the column 3 through bolt, and the bottom of column 3 is provided with pushing hands 3-1, carries out when being used to shift this device using.
It is fastening that described arm 5 and the curved column 4 of band are connected through bolt, and arm 5 be a U-shaped, comprises suspension bracket 5-1 and four suspension ring 5-2 that are located at below the suspension bracket, and suspension ring are used to hang the loss of weight suspender belt of confession patient wearing.
Like Fig. 1, shown in Figure 2; The left and right side of column 3 is provided with armrest mechanism 9, and armrest mechanism 9 comprises arm-rest frame 9-1, supports bend pipe 9-2, fixed sleeving 9-3 and armrest adjustment mechanism, and arm-rest frame 9-1 is connected through hinged mode with support bend pipe 9-2 and can horizontally rotates; Be provided with the position that alignment pin is used for fixing arm-rest frame 9-1 simultaneously; When alignment pin took out, arm-rest frame 9-1 can outwards stretch, and fixed sleeving 9-3 one end and column 3 are connected through bolt; The other end inserts and supports in the bend pipe 9-2, under the adjusting of armrest adjustment mechanism, supports bend pipe 9-2 relative fixed sleeve pipe 9-3 and can slide.Armrest adjustment mechanism comprises adjusting screw(rod) 9-4 and is located at the handwheel 9-5 on this adjusting screw(rod); The two ends of adjusting screw(rod) 9-4 are respectively the screw thread of positive and negative silk; With about the support bend pipe on the bracing frame 9-6 that is provided be connected; Rotate handwheel 9-5 positive left-hand thread is rotated simultaneously, reach the purpose of regulating both sides arm-rest frame spacing.After regulating the spacing of two arm-rest frames, can make itself and the fixed-site of fixed sleeving 9-3, and then fix the position of two arm-rest frames by the screw that supports bend pipe 9-2 bottom.The spacing of two arm-rest frames of the utility model can be regulated, and to adapt to the wide patient of dissimilar arm, two arm-rest frames can outwards rotate stretching, extension, gets into and install suspender so that the patient takes wheelchair.
Like Fig. 1, shown in Figure 3, the armrest mechanism below is provided with lower limb exoskeleton bindiny mechanism 10, and it comprises guide rail slide block mechanism 10-1, guide rail Connection Block 10-2, adjustment piece 10-3, ectoskeleton contiguous block 10-4.Guide rail slide block mechanism 10-1 is fixed in the connecting plate 9-7 of arm-rest frame 9-1 below, comprises guide rail and slide block, and slide block can slide along guide rail.Guide rail Connection Block 10-2 is a T shape sheet material, is fixedly connected with slide block through screw.Adjustment piece 10-3 is a L-square material; Article two, right-angle side is connected fixing with guide rail Connection Block 10-2 respectively with ectoskeleton contiguous block 10-4; On the connecting bolt between adjustment piece 10-3 and the ectoskeleton contiguous block 10-4 damping stage clip 10-5 is housed, is used for adapting to walking training gravity center of human body's variation.Ectoskeleton contiguous block 10-4 is connected fixing with corresponding lower limb exoskeleton assembly.Can be used for the location of ectoskeleton adjustment back and patient's training process through dog screw 10-6 locking between guide rail Connection Block and the guide rail.
Connection between above-described each parts is not to be limited to bolt to connect, and under the situation that does not influence result of use, any connected mode that it can be expected for those skilled in the art is like welding, mode such as one-body molded.
In sum, the utlity model has following advantage:
1. the adjustable height of arm and arm-rest frame can be fit to patient's use of different heights;
2. the spacing of left and right sides armrest frame can be regulated, and can adapt to arm width different patients, improves comfort;
3. arm-rest frame can outwards rotate expansion, makes things convenient for the patient to take wheelchair and sails the middle suspender of dressing of device into.
4. the guide rail slide block can be regulated front and back, makes the patient body lower limb be in comfortable locus with respect to this device;
5. the damping stage clip in the lower limb exoskeleton bindiny mechanism can adapt to gravity center of human body's in the leg training process height change, makes walking step state smooth and easy naturally.
6. on the bottom support frame castor and lower margin are housed simultaneously, are convenient to the carrying of device and fixing when using.
7. simple in structure, cost is low, applied range.
Claims (7)
1. lower limb gait training loss of weight bracing or strutting arrangement is characterized in that: it comprises bottom support frame, electric up-down post, column, the curved column of band, arm, armrest mechanism and lower limb exoskeleton bindiny mechanism;
This bottom support frame comprises both sides underframe and intermediate transverse girder side by side, and this intermediate transverse girder is provided with square tube, and the upper end of this square tube is provided with connection side's plate, and this connection side's plate is connected with the bottom of this electric up-down post;
The lower end of this column is connected with the curved column of this electric up-down post and this band respectively with the upper end, and this electric up-down post can be regulated the height of this column;
This arm is connected fastening with the curved column of this band, this arm is a U-shaped, comprises suspension bracket and the suspension ring of being located at this suspension bracket below;
The left and right side of this column is provided with armrest mechanism; This armrest mechanism comprises arm-rest frame, supports bend pipe, fixed sleeving and armrest adjustment mechanism; This arm-rest frame is connected through hinged mode with this support bend pipe, is provided with the position that alignment pin is used for fixing this arm-rest frame simultaneously; This fixed sleeving one end is connected with this column, and the other end inserts and should support in the bend pipe, and relative this fixed sleeving of this support bend pipe can slide under the adjusting of this armrest adjustment mechanism;
This armrest mechanism below is provided with lower limb exoskeleton bindiny mechanism, comprises guide rail slide block mechanism, guide rail Connection Block, adjustment piece, ectoskeleton contiguous block; This guide rail slide block mechanism is fixed in the connecting plate of this arm-rest frame below, comprises guide rail and slide block, and this slide block can slide along this guide rail; This guide rail Connection Block is a T shape sheet material, is fixedly connected with this slide block; This adjustment piece is a L-square material, and two right-angle sides are connected fixing with this guide rail Connection Block respectively with this ectoskeleton contiguous block.
2. lower limb gait training loss of weight bracing or strutting arrangement as claimed in claim 1, it is characterized in that: said support bend pipe is provided with bracing frame; Said armrest adjustment mechanism comprises adjusting screw(rod) and is located at the handwheel on this adjusting screw(rod), and the two ends of this adjusting screw(rod) are respectively the screw thread of positive and negative silk, with about this bracing frame be connected, rotate this handwheel positive left-hand thread is rotated simultaneously.
3. according to claim 1 or claim 2 lower limb gait training loss of weight bracing or strutting arrangement is characterized in that: be provided with castor in said underframe end, be connected fixing through the sheet that is threaded with said underframe; Be provided with lower margin at this castor adjacent, be connected with thread bush on the said underframe, the height of this castor and this lower margin can be regulated.
4. lower limb gait training loss of weight bracing or strutting arrangement as claimed in claim 3 is characterized in that: said support bend pipe bottom is provided with the screw of the location that is used to slide.
5. like claim 1 or 4 described lower limb gait training loss of weight bracing or strutting arrangements, it is characterized in that: can be between said guide rail Connection Block and the said guide rail through a location screw lock.
6. lower limb gait training loss of weight bracing or strutting arrangement as claimed in claim 5 is characterized in that: on the connecting bolt between said adjustment piece and the said ectoskeleton contiguous block damping stage clip is housed.
7. lower limb gait training loss of weight bracing or strutting arrangement as claimed in claim 6, it is characterized in that: the inboard of said column is provided with backrest, and the bottom of said column is provided with pushing hands.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220069760 CN202459981U (en) | 2012-02-28 | 2012-02-28 | Body weight support device for lower limb gait training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220069760 CN202459981U (en) | 2012-02-28 | 2012-02-28 | Body weight support device for lower limb gait training |
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| Publication Number | Publication Date |
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| CN202459981U true CN202459981U (en) | 2012-10-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220069760 Expired - Fee Related CN202459981U (en) | 2012-02-28 | 2012-02-28 | Body weight support device for lower limb gait training |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104173158A (en) * | 2014-08-28 | 2014-12-03 | 山东省立医院 | Mobile auxiliary motion device for critical patient |
| CN105338944A (en) * | 2013-06-26 | 2016-02-17 | 朴二洵 | Gait training device |
| CN105411814A (en) * | 2015-12-31 | 2016-03-23 | 王俊华 | Stepping device and gait rehabilitation training robot with same |
| CN105796312A (en) * | 2016-05-22 | 2016-07-27 | 安庆海纳信息技术有限公司 | Arm-width-adjustable medical arm massaging manipulator |
| CN105816243A (en) * | 2016-03-14 | 2016-08-03 | 哈尔滨工业大学 | Main manipulator console for orthopedic operation |
| CN106539659A (en) * | 2015-09-17 | 2017-03-29 | 上海理工大学 | Lower limb rehabilitation robot is with turnable ectoskeleton pedipulator |
| CN108095982A (en) * | 2018-01-04 | 2018-06-01 | 掣京机器人科技（上海）有限公司 | A kind of width adjusting device of exoskeleton robot |
| WO2018145398A1 (en) * | 2017-02-10 | 2018-08-16 | 常州百西瑞机械科技有限公司 | Electric two-wheeled balancing wheelchair |
| CN108403315A (en) * | 2017-02-10 | 2018-08-17 | 常州百西瑞机械科技有限公司 | A kind of electronic two-wheeled balance wheelchair |
| CN108686337A (en) * | 2017-04-04 | 2018-10-23 | 丰田自动车株式会社 | Ambulation training instrument and ambulation training auxiliary device |
| CN109966124A (en) * | 2019-04-25 | 2019-07-05 | 江苏省人民医院（南京医科大学第一附属医院） | Exoskeleton robot testing frame |
| CN110141466A (en) * | 2019-05-31 | 2019-08-20 | 广东智爱机器人科技有限公司 | Mobile multiplier of moving quantifies body weight support treadmill training device |
| CN110522581A (en) * | 2019-09-23 | 2019-12-03 | 天津科技大学 | A kind of transfer auxiliary device |
| CN111375175A (en) * | 2020-03-20 | 2020-07-07 | 裴绪群 | Department of neurology low limbs rehabilitation device that possesses pacify function |
| CN111602607A (en) * | 2020-05-28 | 2020-09-01 | 湖北工业大学 | Weight-losing rehabilitation training device for non-human primates |
| CN111920636A (en) * | 2020-09-04 | 2020-11-13 | 天津科技大学 | Multifunctional standing assisting device |
| CN112057297A (en) * | 2020-09-21 | 2020-12-11 | 广东甲子科技有限公司 | Lightweight long-endurance lower limb walking-aid exoskeleton robot |
| CN112245240A (en) * | 2020-11-11 | 2021-01-22 | 杭州程天科技发展有限公司 | Universal regulation passive following hanging bracket |
| CN112315752A (en) * | 2020-11-11 | 2021-02-05 | 杭州程天科技发展有限公司 | Multifunctional passive following hanging bracket |
| CN112402910A (en) * | 2020-11-23 | 2021-02-26 | 湖南文理学院 | Fastening device for rehabilitation exercise of lower limb joints based on self-restraint |
| CN112451309A (en) * | 2020-11-05 | 2021-03-09 | 海南医学院 | Intelligent medical robot for treating lower limbs |
| CN113576844A (en) * | 2021-08-01 | 2021-11-02 | 哈尔滨工程大学 | Auxiliary hanging bracket of exoskeleton robot |
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2012
- 2012-02-28 CN CN 201220069760 patent/CN202459981U/en not_active Expired - Fee Related
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105338944A (en) * | 2013-06-26 | 2016-02-17 | 朴二洵 | Gait training device |
| CN104173158A (en) * | 2014-08-28 | 2014-12-03 | 山东省立医院 | Mobile auxiliary motion device for critical patient |
| CN106539659A (en) * | 2015-09-17 | 2017-03-29 | 上海理工大学 | Lower limb rehabilitation robot is with turnable ectoskeleton pedipulator |
| CN105411814A (en) * | 2015-12-31 | 2016-03-23 | 王俊华 | Stepping device and gait rehabilitation training robot with same |
| CN105816243A (en) * | 2016-03-14 | 2016-08-03 | 哈尔滨工业大学 | Main manipulator console for orthopedic operation |
| CN105796312A (en) * | 2016-05-22 | 2016-07-27 | 安庆海纳信息技术有限公司 | Arm-width-adjustable medical arm massaging manipulator |
| WO2018145398A1 (en) * | 2017-02-10 | 2018-08-16 | 常州百西瑞机械科技有限公司 | Electric two-wheeled balancing wheelchair |
| CN108403315A (en) * | 2017-02-10 | 2018-08-17 | 常州百西瑞机械科技有限公司 | A kind of electronic two-wheeled balance wheelchair |
| CN108686337A (en) * | 2017-04-04 | 2018-10-23 | 丰田自动车株式会社 | Ambulation training instrument and ambulation training auxiliary device |
| CN108095982A (en) * | 2018-01-04 | 2018-06-01 | 掣京机器人科技（上海）有限公司 | A kind of width adjusting device of exoskeleton robot |
| CN109966124A (en) * | 2019-04-25 | 2019-07-05 | 江苏省人民医院（南京医科大学第一附属医院） | Exoskeleton robot testing frame |
| CN110141466A (en) * | 2019-05-31 | 2019-08-20 | 广东智爱机器人科技有限公司 | Mobile multiplier of moving quantifies body weight support treadmill training device |
| CN110522581A (en) * | 2019-09-23 | 2019-12-03 | 天津科技大学 | A kind of transfer auxiliary device |
| CN111375175A (en) * | 2020-03-20 | 2020-07-07 | 裴绪群 | Department of neurology low limbs rehabilitation device that possesses pacify function |
| CN111375175B (en) * | 2020-03-20 | 2021-05-07 | 裴绪群 | Department of neurology low limbs rehabilitation device that possesses pacify function |
| CN111602607A (en) * | 2020-05-28 | 2020-09-01 | 湖北工业大学 | Weight-losing rehabilitation training device for non-human primates |
| CN111602607B (en) * | 2020-05-28 | 2022-03-15 | 湖北工业大学 | Weight-losing rehabilitation training device for non-human primates |
| CN111920636A (en) * | 2020-09-04 | 2020-11-13 | 天津科技大学 | Multifunctional standing assisting device |
| CN112057297A (en) * | 2020-09-21 | 2020-12-11 | 广东甲子科技有限公司 | Lightweight long-endurance lower limb walking-aid exoskeleton robot |
| CN112451309A (en) * | 2020-11-05 | 2021-03-09 | 海南医学院 | Intelligent medical robot for treating lower limbs |
| CN112245240A (en) * | 2020-11-11 | 2021-01-22 | 杭州程天科技发展有限公司 | Universal regulation passive following hanging bracket |
| CN112315752A (en) * | 2020-11-11 | 2021-02-05 | 杭州程天科技发展有限公司 | Multifunctional passive following hanging bracket |
| CN112402910A (en) * | 2020-11-23 | 2021-02-26 | 湖南文理学院 | Fastening device for rehabilitation exercise of lower limb joints based on self-restraint |
| CN113576844A (en) * | 2021-08-01 | 2021-11-02 | 哈尔滨工程大学 | Auxiliary hanging bracket of exoskeleton robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121003 Termination date: 20150228 |
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| EXPY | Termination of patent right or utility model |