CN201899776U - Intelligent foot drop correction and hemiplegia rehabilitation device - Google Patents
Intelligent foot drop correction and hemiplegia rehabilitation device Download PDFInfo
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- CN201899776U CN201899776U CN2010206066847U CN201020606684U CN201899776U CN 201899776 U CN201899776 U CN 201899776U CN 2010206066847 U CN2010206066847 U CN 2010206066847U CN 201020606684 U CN201020606684 U CN 201020606684U CN 201899776 U CN201899776 U CN 201899776U
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Abstract
The utility model relates to an intelligent foot drop correction and hemiplegia rehabilitation device. The device utilizes the neural function electrical stimulation and biological feedback principle to help patients suffering from foot drop and hemiplegia which are caused by central nervous system injury to carry out foot drop correction and hemiplegia rehabilitation. The intelligent foot drop correction and hemiplegia rehabilitation device comprises a neural electrical stimulation module, a gait detection module and a body position detection module, wherein the neural electrical stimulation module is arranged on the leg part at the affected side of a patient; the gait detection module comprises a sensor; the body position detection module is arranged on the hip of the patient for sensing a body position of the patient and is provided with a pressure sensor; and the neural electrical stimulation module is also connected with a myoelectricity detection module to form a universal neural network reconstruction instrument. The intelligent foot drop correction and hemiplegia rehabilitation device has the beneficial effects that the gait and the body position can be simultaneously detected so as to avoid unnecessary electrical stimulation; an electrical stimulation parameter can be regulated without a programmer, and the special programmer is saved; the device has simple structure; due to the arrangement of the humanized sensor, the device is convenient to operate and use; and the device has multiple functions, and the universal neural network reconstruction instrument is formed.
Description
Technical field
This utility model relates to a kind of intelligent drop foot and corrects and the hemiparalysis recovery device; This device helps cause that because of central nervous system injury the patient of drop foot and hemiplegia carries out drop foot and corrects and hemiparalysis recovery with the principle of function of nervous system's electricity irritation and biofeedback.
Background technology
Apoplexy, cerebral trauma, spinal cord injury, and nervus centralis disease such as multiple sclerosis often causes drop foot.The patient shows as can not the dorsiflex foot, and during walking or the sick foot of towing or lift sick side lower limb higher, so gait is slow, and unusual, poor stability can not be walked for a long time.This unusual gait further causes hip joint, and the back of the body, and knee joint injury have a strong impact on patient's daily life.
The traditional remedies of drop foot is fixed into vertical angle for using the holder of machinery foot with foot and shank, and machinery is avoided foot drop.The shortcoming of machinery foot holder is a lot, and patient is no matter be sitting posture or at the different conditions of walking, foot and ankle joint all keep vertical angle, can not natural motion.The holder of machinery foot provides drop foot machinery correcting function to help patient's walking on the one hand; On the other hand, mechanical foot holder is owing to its structure, and large scale and weight are but brought burden to patient's walking, and is especially difficult when stair activity and climb and fall especially, thereby can reduce patient's ambulatory activities.Calf muscle is not applied when using machinery foot holder walking, then causes amyotrophy very soon as not adhering to that other treatment as massage wait, and causes permanent irreversible drop foot.
Start and the foot movement of control drop foot patient when the walking based on the foot-drop corrector of function of nervous system's electricity irritation principle simulation central nervous system, it provides than traditional machinery foot and has held in the palm more naturally more labour-saving drop foot correcting function, and the not available drop foot rehabilitation function of machinery foot holder, can prevent the Calf muscle atrophy, increase blood circulation, effectively help patient to recover self original foot dorsiflex function gradually, have the unrivaled advantage of machinery foot holder.
Present foot-drop corrector needs the doctor to use independent programmable device that electrical stimulation device is carried out the personalization programming, and the cost height uses complicated operation.No matter when switch opens, whether need during use, just stimulate correcting the position in case lift foot.The not enough hommization of instrument has brought inconvenience for convalescence patient's activity.Instrumental function is single, can only be used for drop foot and correct and rehabilitation, can not be used for the hemiparalysis recovery at other position.
Summary of the invention
The purpose of this utility model is for overcoming a kind of multifunctional intellectual drop foot rectification and the hemiparalysis recovery device that above-mentioned deficiency is set up.The work of electricity irritation module was not worked when not required when this device was laid pick off in position and cooperated the electricity irritation module that patient need be stimulated, and had realized the human nature service of device to patient, and a tractor serves several purposes function.
To achieve these goals, the technical solution of the utility model is: a kind of intelligent drop foot is corrected and the hemiparalysis recovery device, this device comprises a nerve electric stimulation module that is installed on patient's Ipsilateral shank, described nerve electric stimulation module comprises microprocessor, high tension generator, electricity irritation output circuit, microprocessor control connection electricity irritation output circuit, high tension generator connects the electricity irritation output circuit; Wherein, described device also comprises a gait detection module that contains pick off, and the sensor signal of described gait detection module connects the signal input that is passed to the nerve electric stimulation module.
Described pick off is that pressure transducer or pressure are touched switch, and pressure transducer or pressure are touched switch and be installed in the patient vola.
Described pick off is acceleration transducer or inclination sensor, and acceleration transducer or inclination sensor are installed in patient's shank.
Described pick off comprises that the pressure transducer that is installed in the patient vola or pressure touch switch and be installed in the acceleration transducer or the inclination sensor of patient's shank.
Described gait detection module is provided with wireless transmitter, and the nerve electric stimulation module is provided with wireless receiver, and described gait detection module sensor signal is passed to the input of nerve electric stimulation module by signal by wireless transmitter and wireless receiver.
Described nerve electric stimulation module also connects a position detection module, and described position detection module contains pressure transducer, and described pressure transducer places patient's buttocks.
Described position detection module is provided with wireless transmitter, and the nerve electric stimulation module is provided with wireless receiver, and described position detection module sensor signal is passed to the input of nerve electric stimulation module by signal by wireless transmitter and wireless receiver.
Described hemiparalysis recovery device also comprises a checking with EMG method module that places the affected part, and described nerve electric stimulation module by signal input connects the output of checking with EMG method module by signal; Described checking with EMG method module comprises myoelectricity acquisition electrode, electromyographic signal amplifier, reference electrode drive circuit, reference electrode, electromyographic signal amplification filtering circuit; Myoelectricity acquisition electrode signal connects the electromyographic signal amplifier, and the electromyographic signal amplifier connects the reference electrode drive circuit, and the reference electrode drive circuit connects reference electrode, and the electromyographic signal amplifier connects electromyographic signal amplification filtering circuit simultaneously.
Described checking with EMG method module is provided with wireless transmitter, and the nerve electric stimulation module is provided with wireless receiver, and the detected signal of described checking with EMG method module is passed to the input of nerve electric stimulation module by signal by wireless transmitter and wireless receiver.
Described nerve electric stimulation module connects and is used to regulate the knob or the button of electricity irritation amplitude, pulsewidth, frequency.
The beneficial effects of the utility model are:
1. can detect patient's gait and figure simultaneously, to avoid unnecessary electricity irritation.
2. need not just can regulate by programmable device, save special-purpose programmable device electrical stimulation parameters (amplitude, pulsewidth, frequency etc.).
3, simple in structure, the pick off of hommization is arranged so that device is easy for operation.
4, can realize a tractor serves several purposes by adding the checking with EMG method module, constitute the neural network reconstruction instrument.
Below in conjunction with drawings and Examples the present invention is described in detail.
Description of drawings
Fig. 1 is this utility model structural representation;
Fig. 2 is the circuit block diagram that the nerve electric stimulation module is connected with the position pressure transducer simultaneously;
Fig. 3 is this utility model circuit block diagram that has wireless transmitter and wireless receiver;
Fig. 4 is described nerve electric stimulation module and checking with EMG method module connecting circuit block diagram;
Fig. 5 is a checking with EMG method modular circuit block diagram;
Fig. 6 is the checking with EMG method modular circuit block diagram that has wireless transmitter;
Fig. 7 is provided with multi-functional knob or key circuit block diagram for described nerve electric stimulation module.
The specific embodiment
A kind of intelligent drop foot is corrected and hemiparalysis recovery device embodiment, referring to Fig. 1, this device comprises a nerve electric stimulation module 2 that is installed on patient's Ipsilateral shank 1, described nerve electric stimulation module comprises microprocessor 2-1, high tension generator 2-2, electricity irritation output circuit 2-3, microprocessor control connection electricity irritation output circuit, high tension generator connects the electricity irritation output circuit; Wherein, described device also comprises a gait detection module 3 that contains pick off, and the sensor signal of described gait detection module connects the signal input that is passed to the nerve electric stimulation module.
A kind of intelligent drop foot is corrected and another embodiment of hemiparalysis recovery device, referring to Fig. 1 and embodiment 1, present embodiment is for touching switch 3-1 at pick off adopts pressure sensor described in the embodiment 1 or pressure, and pressure transducer or pressure are touched in the footwear 4 that switch is installed in the patient vola.Pressure reduced when foot lifted, and pressure increased when foot landed, if foot lifts state, then microprocessor starts the default electricity irritation of electricity irritation output circuit output; If the sufficient state that lands, then microprocessor stops electricity irritation output circuit output electricity irritation; High tension generator provides electricity irritation output circuit required voltage, pressure transducer changes pressure into the signal of telecommunication and is transferred to microprocessor, microprocessor judges it is that foot lifts state or the sufficient state that lands according to the signal of telecommunication that obtains, and this gait state is passed to the nerve electric stimulation module.
A kind of intelligent drop foot is corrected and another embodiment of hemiparalysis recovery device, referring to embodiment 1 and Fig. 1, present embodiment is for adopting acceleration transducer or inclination sensor 3-2 at pick off described in the embodiment 1, and acceleration transducer or inclination sensor are installed in patient's shank.The gait situation that acceleration transducer or inclination sensor can react patient equally provides a signal to microprocessor, microprocessor judges it is that foot lifts state or the sufficient state that lands according to the signal of telecommunication that obtains, and this gait state is passed to the nerve electric stimulation module.
A kind of intelligent drop foot is corrected and another embodiment of hemiparalysis recovery device, referring to embodiment 2 and 3 and Fig. 1, therefore it is one that present embodiment has been concentrated the pick off of embodiment 2 and embodiment 3, and the described pick off of mentioning for embodiment comprises that the pressure transducer that is installed in the patient vola or pressure touch switch and be installed in the acceleration transducer or the inclination sensor of patient's shank.Can provide signal for microprocessor by the various pick offs of different characteristics like this, select the control electrical stimulation circuit, increase reliability for microprocessor.
A kind of intelligent drop foot is corrected and another embodiment of hemiparalysis recovery device, referring to embodiment 1 to 4 and Fig. 2, present embodiment will connect a position detection module 5 again in embodiment 1 described nerve electric stimulation module, described position detection module contains a pressure transducer that is installed in patient's buttocks induction patient body position, be called position pressure transducer 5-1, described position pressure transducer is positioned over patient's trousers back pocket, places patient's buttocks.After the position pressure transducer was positioned over the trousers back pocket, pressure reduced when the patient stands, and pressure transducer is crushed on the chair when sitting down, and pressure increases.Pressure transducer changes pressure into the signal of telecommunication and is transferred to microprocessor, and microprocessor is standing state or sits down state according to the signal of telecommunication judgement that obtains, and this figure's signal is passed to the nerve electric stimulation module.If sit down state, this moment, no matter which kind of signal the gait detection module exported, and the nerve electric stimulation module just can not exported electricity irritation, and the nerve electric stimulation module is not worked when having guaranteed that the patient sits down.
A kind of intelligent drop foot is corrected and another embodiment of hemiparalysis recovery device, referring to embodiment 1 to 5 and Fig. 3, the gait detection module can be connected by lead with the nerve electric stimulation module with the position detection module, advantage is that the components and parts cost is low, shortcoming is owing to connect with lead, use inconvenience, and lead ruptures easily; For the ease of operation, present embodiment is respectively arranged with wireless transmitter 3-3 and 5-2 to described gait detection module and position detection module, the nerve electric stimulation module is provided with wireless receiver 2-4, and described detection module sensor signal is passed to the input of nerve electric stimulation module by signal by wireless transmitter and wireless receiver.Use described wireless connections, the gait detection module just can be connected without lead with the nerve electric stimulation module with the position detection module.
Embodiment 7,
A kind of intelligent drop foot is corrected and another embodiment of hemiparalysis recovery device, referring to embodiment 1 to 6 and Fig. 4, Fig. 5, present embodiment also connects a checking with EMG method module 6 for described nerve electric stimulation module in above-mentioned arbitrary embodiment, constitute a general neural network reconstruction system that places the affected part, this moment, the nerve electric stimulation module can not adopt the output signal of gait detection module and position detection module.Described nerve electric stimulation module by signal input connects the output of checking with EMG method module by signal; Described checking with EMG method module comprises myoelectricity acquisition electrode 6-1, electromyographic signal amplifier 6-2, reference electrode drive circuit 6-3, reference electrode 6-4, electromyographic signal filter circuit 6-5; Myoelectricity acquisition electrode signal connects the electromyographic signal amplifier, the electromyographic signal amplifier connects the reference electrode drive circuit, the reference electrode drive circuit connects reference electrode, and the electromyographic signal amplifier connects the electromyographic signal filter circuit simultaneously, and the output of electromyographic signal filter circuit is connected to the electricity irritation module.Electromyographic signal is by the analog-digital converter collection in the microprocessor.Microprocessor detects the electromyographic signal amplitude, and it and preset threshold value are compared; When the electromyographic signal amplitude exceeded preset threshold value, the nerve electric stimulation module just can be exported electricity irritation to electric stimulation electrode.
Embodiment 8,
A kind of intelligent drop foot is corrected and another embodiment of hemiparalysis recovery device, referring to embodiment 7 and Fig. 6.Present embodiment is provided with wireless transmitter 6-6 to described checking with EMG method module, the nerve electric stimulation module is provided with wireless receiver 2-4, and the electromyographic signal of described checking with EMG method module output is passed to the input of nerve electric stimulation module by signal by wireless transmitter and wireless receiver.
Embodiment 9,
A kind of intelligent drop foot is corrected and another embodiment of hemiparalysis recovery device, referring to embodiment 1 to 8 and Fig. 7, at above-mentioned arbitrary embodiment, patient's operation for convenience, change the complex operations that present foot-drop corrector needs the doctor to use independent programmable device that electrical stimulation device is carried out personalized programming, present embodiment connects knob or the button that is used for electricity irritation amplitude adjusted 2-1-1, pulse-width regulated 2-1-2, frequency transformation adjusting 2-1-3 to described electricity irritation module microprocessor.Device also can comprise display circuit, and as LCD, LED etc. are used to show electrical stimulation parameters etc.
Microprocessor described in the foregoing description, high tension generator, electricity irritation output circuit, pressure transducer, acceleration transducer, wireless transmitter, wireless receiver, electromyographic signal amplifier, reference electrode drive circuit, electromyographic signal filter circuit are common circuit.Described wireless transmitter also can be a wireless transceiver, and described wireless receiver also can be a wireless transceiver, thereby realizes nerve electric stimulation module and gait detection module, the both-way communication between position detection module or the checking with EMG method module.Described gait detection module is contained in the Ipsilateral lower limb usually, but also can be contained in Ipsilateral offside lower limb.Described nerve electric stimulation module is removed to connect and is used for the electricity irritation amplitude adjusted, and pulse-width regulated outside the knob or button of frequency adjustment, also can connect other required knob or button.Knob or button can multi-functional compound uses.Described nerve electric stimulation module can be configured to a kind of pattern, be commonly referred to exercise mode, when in this pattern, working, the nerve electric stimulation module need not any gait detection module, the signal that position detection module or checking with EMG method module provide, and the nervimuscular effect of taking exercise is played in the default rhythmic electricity irritation of output automatically.When the gait detection module adopts acceleration transducer or inclination sensor, gait detection module and position detection module can be two independent detection modules separately, also can be merged into a module that has gait measuring ability and position measuring ability simultaneously.
Claims (10)
1. an intelligent drop foot is corrected and the hemiparalysis recovery device, this device comprises a nerve electric stimulation module that is installed on patient's Ipsilateral shank, described nerve electric stimulation module comprises microprocessor, high tension generator, electricity irritation output circuit, microprocessor control connection electricity irritation output circuit, high tension generator connects the electricity irritation output circuit; It is characterized in that described device also comprises a gait detection module that contains pick off, the sensor signal of described gait detection module connects the signal input that is passed to the nerve electric stimulation module.
2. a kind of intelligent drop foot according to claim 1 is corrected and the hemiparalysis recovery device, it is characterized in that described pick off is that pressure transducer or pressure are touched switch, and pressure transducer or pressure are touched switch and be installed in the patient vola.
3. a kind of intelligent drop foot according to claim 1 is corrected and the hemiparalysis recovery device, it is characterized in that described pick off is acceleration transducer or inclination sensor, and acceleration transducer or inclination sensor are installed in patient's shank.
4. a kind of intelligent drop foot according to claim 1 is corrected and the hemiparalysis recovery device, it is characterized in that described pick off comprises that the pressure transducer that is installed in the patient vola or pressure touch switch and be installed in the acceleration transducer or the inclination sensor of patient's shank.
5. correct and the hemiparalysis recovery device according to the described any intelligent drop foot of claim 1 to 4, it is characterized in that, described gait detection module is provided with wireless transmitter, the nerve electric stimulation module is provided with wireless receiver, and described gait detection module sensor signal is passed to the input of nerve electric stimulation module by signal by wireless transmitter and wireless receiver.
6. a kind of intelligent drop foot according to claim 5 is corrected and the hemiparalysis recovery device, it is characterized in that, described nerve electric stimulation module also connects a position detection module, and described position detection module contains pressure transducer, and described pressure transducer places patient's buttocks.
7. a kind of intelligent drop foot according to claim 6 is corrected and the hemiparalysis recovery device, it is characterized in that, described position detection module is provided with wireless transmitter, the nerve electric stimulation module is provided with wireless receiver, and described position detection module sensor signal is passed to the input of nerve electric stimulation module by signal by wireless transmitter and wireless receiver.
8. correct and the hemiparalysis recovery device according to claim 6 or 7 described any intelligent drop foots, it is characterized in that, described hemiparalysis recovery device also comprises a checking with EMG method module that places the affected part, and described nerve electric stimulation module by signal input connects the output of checking with EMG method module by signal; Described checking with EMG method module comprises myoelectricity acquisition electrode, electromyographic signal amplifier, reference electrode drive circuit, reference electrode, electromyographic signal filter circuit; Myoelectricity acquisition electrode signal connects the electromyographic signal amplifier, and the electromyographic signal amplifier connects the reference electrode drive circuit, and the reference electrode drive circuit connects reference electrode, and the electromyographic signal amplifier connects the electromyographic signal filter circuit simultaneously.
9. a kind of intelligent drop foot according to claim 8 is corrected and the hemiparalysis recovery device, it is characterized in that, described checking with EMG method module is provided with wireless transmitter, the nerve electric stimulation module is provided with wireless receiver, and the detected signal of described checking with EMG method module is passed to the input of nerve electric stimulation module by signal by wireless transmitter and wireless receiver.
10. a kind of intelligent drop foot according to claim 9 is corrected and the hemiparalysis recovery device, it is characterized in that, described nerve electric stimulation module connects and is used to regulate the knob or the button of electricity irritation amplitude, pulsewidth, frequency.
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| CN2010206066847U CN201899776U (en) | 2010-11-15 | 2010-11-15 | Intelligent foot drop correction and hemiplegia rehabilitation device |
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| CN102580240A (en) * | 2012-03-13 | 2012-07-18 | 江苏德长医疗科技有限公司 | Electrical stimulation walking-assisting device and output control method thereof |
| CN102698364A (en) * | 2012-06-26 | 2012-10-03 | 刘春悦 | Gait analysis corrector |
| CN102872533A (en) * | 2012-09-11 | 2013-01-16 | 上海市东方医院 | Muscle restoration system for paralyzed limbs |
| CN103083809A (en) * | 2013-01-10 | 2013-05-08 | 江苏德长医疗科技有限公司 | Output control method of electric stimulating walking-assistant device |
| CN103212156A (en) * | 2013-04-03 | 2013-07-24 | 重庆绿色智能技术研究院 | Hemiplegic patient self-recovery meter based on body mirror image theory |
| CN103480086A (en) * | 2013-09-27 | 2014-01-01 | 江苏德长医疗科技有限公司 | Networked rehabilitation system |
| CN103495260A (en) * | 2013-06-04 | 2014-01-08 | 东南大学 | Control method based on electromyographic signals and sensor signals for achieving fine real-time motion |
| CN104826230A (en) * | 2014-02-06 | 2015-08-12 | 丰田自动车株式会社 | Rehabilitation system |
| CN105194798A (en) * | 2014-06-12 | 2015-12-30 | 上海世珈生物科技有限公司 | Myoelectricity biofeedback stimulation massage instrument |
| CN105536146A (en) * | 2016-02-01 | 2016-05-04 | 叶强 | Mobile intelligent multi-channel dynamic electrical stimulation lower limb walking aid and mobile intelligent multi-channel dynamic electrical stimulation lower limb walking method |
| CN105727443A (en) * | 2016-02-05 | 2016-07-06 | 福州大学 | Foot drop therapeutic method based on MEMS sensor |
| CN106491311A (en) * | 2015-09-08 | 2017-03-15 | 丰田自动车株式会社 | Walking device and Walking method |
| CN106659892A (en) * | 2014-06-13 | 2017-05-10 | 泰克纳里阿研究与创新基金 | System and method for functional electrical stimulation |
| CN106859827A (en) * | 2017-03-22 | 2017-06-20 | 安徽工业大学 | A kind of O-shaped leg apparatus for correcting of inflatable |
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| CN108992778A (en) * | 2018-08-01 | 2018-12-14 | 龚映清 | A kind of functional muscle electric stimulation system and method based on sensor intelligent insole |
| CN110151177A (en) * | 2019-05-28 | 2019-08-23 | 长春理工大学 | Foot drop detection device and detection method based on surface electromyography signals |
| CN112915382A (en) * | 2017-10-25 | 2021-06-08 | 国家康复辅具研究中心 | Walking aid system |
| CN114344721A (en) * | 2022-01-13 | 2022-04-15 | 长三角(嘉兴)纳米应用技术研究院 | A wearable functional electrical stimulation system and electrical stimulation method thereof |
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- 2010-11-15 CN CN2010206066847U patent/CN201899776U/en not_active Expired - Fee Related
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| CN102580240A (en) * | 2012-03-13 | 2012-07-18 | 江苏德长医疗科技有限公司 | Electrical stimulation walking-assisting device and output control method thereof |
| CN102580240B (en) * | 2012-03-13 | 2014-01-22 | 江苏德长医疗科技有限公司 | Electrical stimulation walking-assisting device and output control method thereof |
| CN102698364A (en) * | 2012-06-26 | 2012-10-03 | 刘春悦 | Gait analysis corrector |
| CN102872533B (en) * | 2012-09-11 | 2015-08-05 | 上海市东方医院 | Paralyzed limbs muscle reactivation system |
| CN102872533A (en) * | 2012-09-11 | 2013-01-16 | 上海市东方医院 | Muscle restoration system for paralyzed limbs |
| CN103083809A (en) * | 2013-01-10 | 2013-05-08 | 江苏德长医疗科技有限公司 | Output control method of electric stimulating walking-assistant device |
| CN103212156A (en) * | 2013-04-03 | 2013-07-24 | 重庆绿色智能技术研究院 | Hemiplegic patient self-recovery meter based on body mirror image theory |
| CN103212156B (en) * | 2013-04-03 | 2015-10-28 | 重庆德领科技有限公司 | The autonomous instrument of hemiplegic patient based on body image theory |
| CN103495260A (en) * | 2013-06-04 | 2014-01-08 | 东南大学 | Control method based on electromyographic signals and sensor signals for achieving fine real-time motion |
| CN103495260B (en) * | 2013-06-04 | 2016-05-25 | 东南大学 | A kind of control method that realizes meticulous real time kinematics based on electromyographic signal and sensor signal |
| CN103480086B (en) * | 2013-09-27 | 2015-10-14 | 江苏德长医疗科技有限公司 | Networking rehabilitation system |
| CN103480086A (en) * | 2013-09-27 | 2014-01-01 | 江苏德长医疗科技有限公司 | Networked rehabilitation system |
| CN104826230A (en) * | 2014-02-06 | 2015-08-12 | 丰田自动车株式会社 | Rehabilitation system |
| CN105194798A (en) * | 2014-06-12 | 2015-12-30 | 上海世珈生物科技有限公司 | Myoelectricity biofeedback stimulation massage instrument |
| CN106659892A (en) * | 2014-06-13 | 2017-05-10 | 泰克纳里阿研究与创新基金 | System and method for functional electrical stimulation |
| CN106491311A (en) * | 2015-09-08 | 2017-03-15 | 丰田自动车株式会社 | Walking device and Walking method |
| CN105536146A (en) * | 2016-02-01 | 2016-05-04 | 叶强 | Mobile intelligent multi-channel dynamic electrical stimulation lower limb walking aid and mobile intelligent multi-channel dynamic electrical stimulation lower limb walking method |
| CN105536146B (en) * | 2016-02-01 | 2018-11-02 | 叶强 | Intelligent movable multichannel dynamic electro photoluminescence lower limb walk help instrument and method |
| CN105727443A (en) * | 2016-02-05 | 2016-07-06 | 福州大学 | Foot drop therapeutic method based on MEMS sensor |
| CN106859827A (en) * | 2017-03-22 | 2017-06-20 | 安徽工业大学 | A kind of O-shaped leg apparatus for correcting of inflatable |
| CN106923948A (en) * | 2017-03-22 | 2017-07-07 | 安徽工业大学 | A kind of O-shaped leg apparatus for correcting of utilization muscle signals detection |
| CN112915382A (en) * | 2017-10-25 | 2021-06-08 | 国家康复辅具研究中心 | Walking aid system |
| CN112915382B (en) * | 2017-10-25 | 2024-04-30 | 国家康复辅具研究中心 | Walking aid system |
| CN108992778A (en) * | 2018-08-01 | 2018-12-14 | 龚映清 | A kind of functional muscle electric stimulation system and method based on sensor intelligent insole |
| CN110151177A (en) * | 2019-05-28 | 2019-08-23 | 长春理工大学 | Foot drop detection device and detection method based on surface electromyography signals |
| CN114344721A (en) * | 2022-01-13 | 2022-04-15 | 长三角(嘉兴)纳米应用技术研究院 | A wearable functional electrical stimulation system and electrical stimulation method thereof |
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Effective date of registration: 20120401 Address after: Four road 215513 Jiangsu province Changshu economic and Technological Development Zone No. 11 Science Park 308-309 Patentee after: Jiangsu Dechang Medical Technology Co., Ltd. Address before: 99 Wallace street, Newton, mass., Massachusetts Co-patentee before: New shore medical limited liability company Patentee before: Wu Changwang |
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