CN106924007A - Seat spinal rehabilitation robot and its control method - Google Patents
Seat spinal rehabilitation robot and its control method Download PDFInfo
- Publication number
- CN106924007A CN106924007A CN201511008884.6A CN201511008884A CN106924007A CN 106924007 A CN106924007 A CN 106924007A CN 201511008884 A CN201511008884 A CN 201511008884A CN 106924007 A CN106924007 A CN 106924007A
- Authority
- CN
- China
- Prior art keywords
- seat
- rehabilitation robot
- chest
- guide rail
- rotating shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- A61H1/0218—Drawing-out devices
-
- 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
- A61H1/0292—Stretching or bending or torsioning apparatus for exercising for the spinal column
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Rehabilitation Therapy (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Neurology (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention provides a kind of seat spinal rehabilitation robot and its control method, the seat spinal rehabilitation robot includes：Base；Seat, is arranged on the base；Pedal is leg restraint, is arranged on the base and is located at the front of the seat；Chest and back clamping device, mutually separate positioned at the top of the seat and with the seat, and the chest and back clamping device are hinged on the base by first rotating shaft, and the first rotating shaft is located at horizontal direction；First transmission device, connects the first rotating shaft；First driving means, connect first transmission device.Control method described in the control method uses foregoing seat spinal rehabilitation robot.The present invention it is integrated it is anteflexion, after stretch, rotate three training dimensions, relative to the spinal rehabilitation robot of traditional seat training, the activity or rehabilitation training of cervical vertebra are more targeted, and amplitude can be bigger, and movable meeting is more flexible, and effect is more preferable.
Description
Technical field
The present invention relates to rehabilitation equipment field, and in particular to a kind of seat spinal rehabilitation robot and its control method.
Background technology
Currently marketed spinal rehabilitation robot localization recovers and tests in spinal function, the DD such as lumbago, presses
Motor function is divided into " anteflexion ", " stretching afterwards ", " rotation ".By structure, it is an equipment to have according to each functional independence,
Also it is together an equipment to have the several functions of set, but these equipment are all to complete seat training by the action of seat, right
The rehabilitation efficacy of cervical vertebra is bad.
In sum, there is problems with the prior art：Existing spinal rehabilitation robot is bad to the rehabilitation efficacy of cervical vertebra.
The content of the invention
The present invention provides a kind of seat spinal rehabilitation robot and its control method, to solve existing spinal rehabilitation robot pair
The bad problem of the rehabilitation efficacy of cervical vertebra.
Therefore, the present invention proposes a kind of seat spinal rehabilitation robot, the seat spinal rehabilitation robot includes：
Base；
Seat, is arranged on the base；
Pedal is leg restraint, is arranged on the base and is located at the front of the seat；
Chest and back clamping device, mutually separate positioned at the top of the seat and with the seat, and the chest and the back of the body
Portion's clamping device is hinged on the base by first rotating shaft, and the first rotating shaft is located at horizontal direction；
First transmission device, connects the first rotating shaft；
First driving means, connect first transmission device.
Further, the seat spinal rehabilitation robot also includes：First guide rail splice, is arranged on the base simultaneously
Connect the first rotating shaft；First transmission device includes：First annular guide rail, the first synchronous pulley and the first Timing Belt,
Wherein, first annular guide rail is fixedly connected on the outer rim of first guide rail splice；First synchronous pulley is arranged on the bottom
On seat；First Timing Belt is connected between the first annular guide rail and first synchronous pulley.
Further, the first driving means are the first motor, and the first synchronous pulley described in first motor connection simultaneously sets
Put on the base.
Further, the base includes：Base plate and the side plate being laterally positioned on base plate, the first rotating shaft are arranged on institute
State on side plate.
Further, what the seat can be lifted is arranged on the base.
Further, the seat spinal rehabilitation robot also includes：Be connected to the chest and back clamping device with it is described
Connecting rod between first rotating shaft, the connecting rod is bending.
Further, the plane where the first annular guide rail is perpendicular, and the first annular guide rail is located at the chest
Portion and back clamping device are lateral with seat.
Further, the angular range that the first annular guide rail is rotated is 70 degree to 30 degree backward forward.
Further, the seat spinal rehabilitation robot also includes：It is arranged on the side plate and first Timing Belt is led
To the first directive wheel, first directive wheel is arranged on the outside of the first annular guide rail, first directive wheel and institute
State in first annular guide rail is generally aligned in the same plane.
Further, the chest and back clamping device are hinged in the connecting rod by the second rotating shaft, described second turn
Axle is vertically arranged；
The seat spinal rehabilitation robot also includes：
Second guide rail splice, is arranged in the connecting rod and connects second rotating shaft；
Second ring-shaped guide rail, is fixedly connected on the outer rim of second guide rail splice；
Second synchronous pulley, is arranged in the connecting rod；
Second motor, is arranged in the connecting rod；
Second Timing Belt, is connected on second synchronous pulley and the second ring-shaped guide rail.
The present invention also proposes a kind of control method of seat spinal rehabilitation robot, and the control method uses foregoing seat
Position spinal rehabilitation robot, the control method includes：Chest and back clamping device are arranged on seat top, are led to
Overdrive chest and back clamping device is rotated around first rotating shaft, realizes the chest and back clamping device under seat attitude
It is anteflexion or after stretch.
Further, rising or falling by the seat, realizes the chest and back clamping device under different height
It is anteflexion or after stretch.
In the present invention, chest and back clamping device are hinged on the base by first rotating shaft, and the first rotating shaft is located at
Horizontal direction, thus chest and back clamping device can anterior flexion and rear stretching, therefore, human body is sat on the seat, leg and foot
It is placed on pedal i.e. leg restraint, leg, buttocks, waist, cervical vertebra all respectively obtain support or clamp, and neck
The activity or rehabilitation training of vertebra are completed by seat, but chest and the back clamping by separating or being independently arranged with seat
Device realizes, so, the connection of cervical vertebra and chest and back clamping device than connection between cervical vertebra and seat closer to,
More directly, more effectively, relative to the spinal rehabilitation robot of traditional seat training, the activity or rehabilitation training of cervical vertebra more have
Specific aim, amplitude can be bigger, and activity can be more flexible, and effect is more preferable.
The present invention it is integrated it is anteflexion, after stretch, the training dimensions of left rotation and right rotation three, there is provided seat training attitude, with broader
Market is applied, and can not only carry out common spinal function recovery and test, lumbago rehabilitation, outstanding for Post lumbar surgery rehabilitation
For important.
Brief description of the drawings
Fig. 1 is the overall structure diagram of seat spinal rehabilitation robot of the invention；
Fig. 2 is the attachment structure of the first Timing Belt of the invention and first annular guide rail；
Fig. 3 is the structure of the second ring-shaped guide rail of the invention；
Fig. 4 is the operation principle schematic diagram of seat spinal rehabilitation robot of the invention.
Drawing reference numeral explanation：
The chest of 1 base, 2 motor, 3 seat 4 and the guide plate 8 of 5 directive wheel of back clamping device, 6 first synchronizing wheel 7 first
The pedal of one 16 display screen of guide rail 9 first Timing Belt, 10 first rotating shaft, 11 base plate, 13 side plate, 15 shell 18 is that leg is consolidated
Determine the Timing Belt of 30 human body of device, 41 connecting rod, 62 second synchronizing wheel, 72 second guide plate, 82 second guide rail 92 second
Specific embodiment
In order to be more clearly understood to technical characteristic of the invention, purpose and effect, now control brief description of the drawings is of the invention.
As shown in figure 1, the seat spinal rehabilitation robot of the embodiment of the present invention includes：
Base 1；
Seat 3 (hip is fixed and seat modular), is arranged on the base 1；
Pedal is leg restraint 18, is arranged on the base 1 and is located at the front of the seat 3；
Chest and back clamping device 4 (also referred to as cervical vertebra and brain supporting module, or be that back accommodates and rotary module), position
Mutually separate in the top of the seat 3 and with the seat 3, chest and back clamping device 4 are no with seat 3 direct
Annexation, the two is independently arranged, self contained function, and chest and back clamping device 4 can be by bandage and the chests of human body
And back fixation, the connection or clamping to human cervical spine or chest are realized, so as to realize the rehabilitation instruction to cervical vertebra or chest
Practice, and the chest and back clamping device 3 are connected with first rotating shaft 10, and chest and back clamping device 4 pass through first
Rotating shaft 10 is hinged on the base 1, and the first rotating shaft is located at horizontal direction, therefore, chest and back clamping device 3
Being capable of anterior flexion and rear stretching；
First transmission device, connects the first rotating shaft；
First driving means, connect first transmission device.
By the transmission of the first transmission device, first driving means drive first rotating shaft 10 to rotate, first rotating shaft 10 and chest
And the connection of back clamping device, so, chest and back clamping device 4 are moved relative to base anterior flexion and rear stretching, and human body is sitting in
On seat 3, leg and foot are placed on pedal i.e. leg restraint 18, and leg, buttocks, waist, cervical vertebra are all distinguished
It is supported or clamps, and the activity or rehabilitation training of cervical vertebra is completed by seat, but by separating with seat or solely
The chest put and back clamping device is erected to realize, so, the connection of cervical vertebra and chest and back clamping device than cervical vertebra with
Connection between seat closer to, more directly, more effectively, relative to the spinal rehabilitation robot of traditional seat training,
The activity or rehabilitation training of cervical vertebra are more targeted, and amplitude can be bigger, and activity can be more flexible, and effect is more preferable.
Further, as depicted in figs. 1 and 2, the seat spinal rehabilitation robot also includes：First guide rail splice 7,
The first rotating shaft 10 is arranged on the base 1 and connects, the first guide rail splice 7 drives synchronous turn of first rotating shaft 10
It is dynamic；First transmission device includes：First annular guide rail 8, the first synchronous pulley 6 and the first Timing Belt 9, wherein, the
One ring-shaped guide rail 8 is fixedly connected on the outer rim of first guide rail splice 7；First synchronous pulley 6 is arranged on the base
On 1；First Timing Belt 9 is connected between the first annular guide rail 8 and first synchronous pulley 6.First guide rail connects
Fishplate bar is coupled with guide rail screw, and the first Timing Belt 9 is placed in guide rail external arc side, and drive connection is formed with the first synchronous pulley 6,
Drive chest and back clamping device 4 to be rotated around first rotating shaft 10 by the first Timing Belt, realize chest and back clamping device
Anterior flexion and rear stretching.The anterior flexion and rear stretching of chest and back clamping device is realized using the first Timing Belt, stable transmission is rapid, action
It is soft, with positive, reverse convenient conversion, and can occupy little space.
Further, the first driving means are the first motor (not shown), first described in first motor connection
Synchronous pulley 6 is simultaneously arranged on the base 1.First synchronous pulley 6 connects the motor shaft of the first motor, when the first motor
During front and rear rotation, the anterior flexion and rear stretching of chest and back clamping device is realized by the first Timing Belt.It is driven by motor, is driven
Stabilization is rapid, and space structure is compact.
Further, as shown in figure 1, the base 1 includes：Base plate 11 and the side plate 13 being laterally positioned on base plate,
Side plate 13 is for example vertically arranged, and the first rotating shaft 10 is arranged on the side plate 13.Base plate 11 is horizontally disposed with, side plate
13 are vertically arranged, and so, are easy to allocation space.For the part for protecting side plate 13 He be arranged on side plate, and prevent
Human body collides with the part on side plate during rehabilitation training, in the outer setting shell 15 of side plate 13, to accommodate side plate and setting
Part (such as including the first motor or first rotating shaft etc.) on side plate.
Further, what the seat 3 can be lifted is arranged on 1 on the base, and the respect thereto of seat 3 is in the horizontal direction
Position is constant, can be lifted in vertical direction.For example spring can be set in seat 3 lifts seat, to adjust seat
Highly, the distance between seat and cervical vertebra also be have adjusted, as seat 3 up-down mode or concrete structure may be referred to it is existing
The design of technology.
Further, as shown in figure 1, the seat spinal rehabilitation robot also includes：It is connected to the chest and back folder
The connecting rod 41 between device 4 and the first rotating shaft is held, the connecting rod 41 is bending, it is possible to achieve chest and the back of the body
The flexible setting of portion's clamping device, so that the activity of cervical vertebra eliminates the reliance on the action of seat, increased the flexible of cervical vertebra rehabilitation
Property.
Further, as depicted in figs. 1 and 2, the plane where the first annular guide rail 8 is perpendicular, described the
One ring-shaped guide rail 8 is located at the chest and back clamping device 4 is lateral with seat 3, so, spaces compact.
Further, the angular range that the first annular guide rail 8 is rotated is 70 degree to 30 degree backward forward, so, is fitted
Close rehabilitation training.It is semi-circular shape for example, first annular guide rail 8 is designed as into open loop Timing Belt, two is to disconnect fixing
, the arc angle of semi-circular shape is 100 degree, so that the range of movement of the first Timing Belt is 70 degree to 30 degree backward forward,
Meet the amplitude of rehabilitation training.
Further, as depicted in figs. 1 and 2, the seat spinal rehabilitation robot also includes：It is arranged on the side plate
The first directive wheel 5 being oriented to first Timing Belt, first directive wheel 5 is arranged on the first annular guide rail 8
Outside, first directive wheel 5 is generally aligned in the same plane interior with the first annular guide rail 8.First directive wheel 5 be oriented to and
The effect of compression, it is ensured that the stability of the first toothed belt transmission.
Further, as shown in figure 3, the chest and back clamping device 4 are hinged on the connecting rod by the second rotating shaft
On 41, second rotating shaft is vertically arranged, to realize the left-right rotation of chest and back clamping device 4；
The seat spinal rehabilitation robot also includes：
Second guide rail splice 72, is arranged in the connecting rod 41 and connects second rotating shaft；
Second ring-shaped guide rail 82, is fixedly connected on the outer rim of second guide rail splice 72；
Second synchronous pulley 62, is arranged in the connecting rod 41；
Second motor 2, is arranged in the connecting rod 41 and connects the second synchronous pulley 62；
Second Timing Belt 92, is connected on the ring-shaped guide rail 72 of second synchronous pulley 62 and second.
Chest and back clamping device 4 can realize a left side by the second motor, the second Timing Belt 92, the second ring-shaped guide rail 82
Turn right dynamic, for example, slewing area to the left and to the right is 45 degree, thus chest and back clamping device have anterior flexion and rear stretching with
The training function of left-right rotation, can carry out the rehabilitation of the DD such as spinal function recovery and test, lumbago, lumbar vertebrae disease
Sick postoperative rehabilitation etc. is trained.Similarly, the left-right rotation of chest and back clamping device is completed by Timing Belt, and stable transmission is fast
Speed, action is soft, with positive, reverse convenient conversion, and can occupy little space.In addition, relative to traditional by seat
Chair realizes the mode of left-right rotation, and the left-right rotation of cervical vertebra eliminates the reliance on the left-right rotation of seat, can make the left/right rotation of cervical vertebra
It is dynamic more independent, more targetedly.
Further, as shown in figure 1, the seat spinal rehabilitation robot also includes：The display screen 16 of therapeutic scheme is shown,
The display screen 16 is connected on the side plate 13, before the display screen 3 is arranged on the chest and back clamping device 4
Side, is easy to patient that the therapeutic scheme including the information such as treatment time, intensity is understood in training.
As shown in figure 4, during rehabilitation training, human body 30 is sitting on seat 3, cervical vertebra and brain lean against chest and back clamping dress
Put on 4, chest is fixed and clamped by chest and back clamping device 4 by bandage, pin and leg are placed in pedal i.e. leg
In portion's fixing device 18, chest can be independently of the anterior flexion and rear stretching of seat 3 by chest and back clamping device 4, moreover it is possible to independently of
The left-right rotation of seat 3, thus more targeted treatment cervical vertebra, furthermore, it is possible to pass through the lift adjustment cervical vertebra of seat 3 with
Difference in height between chest and back clamping device 4, can understand therapeutic scheme by display screen 16.
The present invention also proposes a kind of control method of seat spinal rehabilitation robot, and the control method uses foregoing seat
Position spinal rehabilitation robot, the control method includes：Chest and back clamping device are arranged on seat top, are suffered from
Person is sat on the seat, and the bandage of chest and back clamping device is pinioned chest and the back of patient, and head rest is at chest and back
On the back cushion of clamping device, drive chest and back clamping device to be rotated around first rotating shaft by the first motor, realize the chest
Anteflexion under seat attitude of portion and back clamping device or after stretch.
Further, by adjusting rising or falling for the seat, realize the chest and back clamping device in different height
Lower anteflexion of degree or after stretch, can both be directed to training of the same patient under different situations, again can be for the trouble of different heights
The training of person.
The present invention recovers and tests not only for spinal function, while the art of the postoperative rehabilitation and cervical vertebra for lumbar disc disease
Rehabilitation afterwards.The present invention takes up an area small, spaces compact.
Schematical specific embodiment of the invention is the foregoing is only, the scope of the present invention is not limited to.It is the present invention
Each part can be mutually combined under conditions of not conflicting, any those skilled in the art is not departing from the present invention
Design and principle on the premise of done equivalent variations and modification, the scope of protection of the invention all should be belonged to.
Claims (10)
1. a kind of seat spinal rehabilitation robot, it is characterised in that the seat spinal rehabilitation robot includes：
Base；
Seat, is arranged on the base；
Pedal is leg restraint, is arranged on the base and is located at the front of the seat；
Chest and back clamping device, mutually separate positioned at the top of the seat and with the seat, and the chest
Portion and back clamping device are hinged on the base by first rotating shaft, and the first rotating shaft is located at horizontal direction；
First transmission device, connects the first rotating shaft；
First driving means, connect first transmission device.
2. seat spinal rehabilitation robot as claimed in claim 1, it is characterised in that the seat spinal rehabilitation
Robot also includes：First guide rail splice, is arranged on the base and connects the first rotating shaft；Described first
Transmission device includes：First annular guide rail, the first synchronous pulley and the first Timing Belt, wherein, first annular guide rail is consolidated
Surely it is connected to the outer rim of first guide rail splice；First synchronous pulley is arranged on the base；First Timing Belt
It is connected between the first annular guide rail and first synchronous pulley.
3. seat spinal rehabilitation robot as claimed in claim 2, it is characterised in that the first driving means
It is the first motor, the first synchronous pulley described in first motor connection is simultaneously arranged on the base.
4. seat spinal rehabilitation robot as claimed in claim 2, it is characterised in that the base includes：Bottom
Plate and the side plate being laterally positioned on base plate, the first rotating shaft are arranged on the side plate.
5. seat spinal rehabilitation robot as claimed in claim 1, it is characterised in that what the seat can be lifted
It is arranged on the base.
6. seat spinal rehabilitation robot as claimed in claim 1, it is characterised in that the seat spinal rehabilitation
Robot also includes：The connecting rod between the chest and back clamping device and the first rotating shaft is connected to, it is described
Connecting rod is bending.
7. seat spinal rehabilitation robot as claimed in claim 4, it is characterised in that the seat spinal rehabilitation
Robot also includes：The first directive wheel being oriented to first Timing Belt is arranged on the side plate, and described first leads
The outside of the first annular guide rail is arranged on to wheel, first directive wheel is located at same with the first annular guide rail
In plane.
8. seat spinal rehabilitation robot as claimed in claim 2, it is characterised in that the chest and back press from both sides
Hold device to be hinged in the connecting rod by the second rotating shaft, second rotating shaft is vertically arranged；
The seat spinal rehabilitation robot also includes：
Second guide rail splice, is arranged in the connecting rod and connects second rotating shaft；
Second ring-shaped guide rail, is fixedly connected on the outer rim of second guide rail splice；
Second synchronous pulley, is arranged in the connecting rod；
Second motor, is arranged in the connecting rod；
Second Timing Belt, is connected on second synchronous pulley and the second ring-shaped guide rail.
9. a kind of control method of seat spinal rehabilitation robot, it is characterised in that the control method uses right
It is required that the seat spinal rehabilitation robot described in 1, the control method includes：The control method includes：By chest
And back clamping device is arranged on seat top, turned around first rotating shaft by driving chest and back clamping device
It is dynamic, realize anteflexion under seat attitude of the chest and back clamping device or after stretch.
10. control method as claimed in claim 9, it is characterised in that by rising or falling for the seat,
Realize anteflexion under different height of the chest and back clamping device or after stretch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511008884.6A CN106924007A (en) | 2015-12-29 | 2015-12-29 | Seat spinal rehabilitation robot and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511008884.6A CN106924007A (en) | 2015-12-29 | 2015-12-29 | Seat spinal rehabilitation robot and its control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106924007A true CN106924007A (en) | 2017-07-07 |
Family
ID=59457565
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201511008884.6A Pending CN106924007A (en) | 2015-12-29 | 2015-12-29 | Seat spinal rehabilitation robot and its control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106924007A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112472528A (en) * | 2020-12-23 | 2021-03-12 | 张梅青 | Medical rehabilitation equipment for leg paralysis |
| CN115737374A (en) * | 2022-11-30 | 2023-03-07 | 中山市悦步智能健康科技有限公司 | Auxiliary device for lumbar vertebra rotation movement |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4802462A (en) * | 1987-12-21 | 1989-02-07 | Biodex Corporation | Muscle exercise and rehabilitation apparatus for the upper lumbar region |
| US5324247A (en) * | 1991-11-26 | 1994-06-28 | Alaska Research And Development, Inc. | Apparatus and method for multi-axial spinal testing and rehabilitation |
| CN102133468A (en) * | 2010-01-21 | 2011-07-27 | 熊豹 | Body-building device with abdomen and back function |
| WO2011102578A1 (en) * | 2010-02-18 | 2011-08-25 | 주식회사 휠백코리아 | Spine correcting wheel-back device |
| CN102292060A (en) * | 2009-01-23 | 2011-12-21 | 许英伯 | Rehabilitation exercise apparatus |
| CN102512307A (en) * | 2011-12-23 | 2012-06-27 | 清华大学 | Multi-position lower limb rehabilitation training robot |
| CN102743270A (en) * | 2012-07-27 | 2012-10-24 | 中国科学院自动化研究所 | Sitting horizontal type individual lower limb rehabilitation training robot |
| CN205339456U (en) * | 2015-12-29 | 2016-06-29 | 北京蝶和医疗科技有限公司 | Recovered robot of seat vertebra |
-
2015
- 2015-12-29 CN CN201511008884.6A patent/CN106924007A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4802462A (en) * | 1987-12-21 | 1989-02-07 | Biodex Corporation | Muscle exercise and rehabilitation apparatus for the upper lumbar region |
| US5324247A (en) * | 1991-11-26 | 1994-06-28 | Alaska Research And Development, Inc. | Apparatus and method for multi-axial spinal testing and rehabilitation |
| CN102292060A (en) * | 2009-01-23 | 2011-12-21 | 许英伯 | Rehabilitation exercise apparatus |
| CN102133468A (en) * | 2010-01-21 | 2011-07-27 | 熊豹 | Body-building device with abdomen and back function |
| WO2011102578A1 (en) * | 2010-02-18 | 2011-08-25 | 주식회사 휠백코리아 | Spine correcting wheel-back device |
| CN102512307A (en) * | 2011-12-23 | 2012-06-27 | 清华大学 | Multi-position lower limb rehabilitation training robot |
| CN102743270A (en) * | 2012-07-27 | 2012-10-24 | 中国科学院自动化研究所 | Sitting horizontal type individual lower limb rehabilitation training robot |
| CN205339456U (en) * | 2015-12-29 | 2016-06-29 | 北京蝶和医疗科技有限公司 | Recovered robot of seat vertebra |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112472528A (en) * | 2020-12-23 | 2021-03-12 | 张梅青 | Medical rehabilitation equipment for leg paralysis |
| CN112472528B (en) * | 2020-12-23 | 2023-05-12 | 福寿康智慧医疗养老服务(上海)有限公司 | Medical rehabilitation equipment for leg paralysis |
| CN115737374A (en) * | 2022-11-30 | 2023-03-07 | 中山市悦步智能健康科技有限公司 | Auxiliary device for lumbar vertebra rotation movement |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110573126A (en) | Chiropractic and traction devices | |
| CN201529182U (en) | Cervical vertebra and lumbar traction device | |
| LU101692B1 (en) | Orthopedic posture supporting and adjusting device and method | |
| CN109806049A (en) | A three-dimensional traction and inspection device and its use method | |
| CN107518995B (en) | neurosurgery spine surgery bracket device | |
| CN211610560U (en) | Pediatric ophthalmic operating table | |
| CN206463182U (en) | Human body practices vertebra bed | |
| KR20120060799A (en) | Spine calibrator | |
| KR101566877B1 (en) | Spine corrector | |
| CN106924007A (en) | Seat spinal rehabilitation robot and its control method | |
| KR101954311B1 (en) | Spine Traction Apparatus | |
| KR101728714B1 (en) | Backbone Stretching Device | |
| CN205339456U (en) | Recovered robot of seat vertebra | |
| CN206424277U (en) | Human body limb combined rehabilitation system | |
| CN210644279U (en) | Multifunctional traction physiotherapy couch | |
| CN205268507U (en) | Recovered robot of a vertebra of standing | |
| WO2007012681A2 (en) | Apparatus for the prevention and treatment of back pain | |
| KR20120060798A (en) | Spine calibrator | |
| CN106924008A (en) | The integrated spinal rehabilitation robot of seat of standing and its control method | |
| CN209316459U (en) | A kind of Chinese medicine rehabilitation lumbar vertebrae recovering instrument | |
| CN115177485B (en) | A posture adjustment device for special patients | |
| CN206463108U (en) | A kind of segmented backbone drawing-off bed inclination regulating structure | |
| CN207492924U (en) | Power exoskeleton | |
| CN106924006A (en) | Erect-position spinal rehabilitation robot and its control method | |
| CN205339457U (en) | Recovered robot of integrated vertebra of seat of standing |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210324 Address after: 1702-1, 17th floor, Caisheng building, 17 Longhua Road, Longhua District, Haikou City, Hainan Province Applicant after: Diehe Technology (Hainan) Co.,Ltd. Address before: 100070 Room 301, 3 / F, building 11b2, Science City, Fengtai District, Beijing Applicant before: BEIJING DIEHE MEDICAL TECHNOLOGY Co.,Ltd. |
|
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170707 |