CN209361239U - A lower limb rehabilitation exoskeleton system - Google Patents
A lower limb rehabilitation exoskeleton system Download PDFInfo
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- CN209361239U CN209361239U CN201821029275.8U CN201821029275U CN209361239U CN 209361239 U CN209361239 U CN 209361239U CN 201821029275 U CN201821029275 U CN 201821029275U CN 209361239 U CN209361239 U CN 209361239U
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 75
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 38
- 210000004394 hip joint Anatomy 0.000 claims abstract description 17
- 210000002414 leg Anatomy 0.000 claims abstract 7
- 210000001624 hip Anatomy 0.000 claims description 2
- 210000003127 knee Anatomy 0.000 claims 4
- 210000000689 upper leg Anatomy 0.000 description 19
- 230000000694 effects Effects 0.000 description 13
- 210000000629 knee joint Anatomy 0.000 description 11
- 239000003638 chemical reducing agent Substances 0.000 description 10
- 238000002169 hydrotherapy Methods 0.000 description 9
- 244000309466 calf Species 0.000 description 7
- 210000003205 muscle Anatomy 0.000 description 7
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 230000002706 hydrostatic effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000001225 therapeutic effect Effects 0.000 description 2
- 206010003694 Atrophy Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 230000037444 atrophy Effects 0.000 description 1
- 230000017531 blood circulation Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000000638 stimulation Effects 0.000 description 1
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Abstract
Description
技术领域technical field
本申请属于医疗器械技术领域，具体涉及一种下肢康复外骨骼系统。The application belongs to the technical field of medical devices, and in particular relates to a lower limb rehabilitation exoskeleton system.
背景技术Background technique
医院里面，有很多人因为各种各样的原因，导致下肢或全身瘫痪。这样的病人非常痛苦，生活不能自理，并且不经常给其进行肌肉按摩放松的话，其肌肉会慢慢发生萎缩，血液流通不畅，使病情进一步恶化。对于偏瘫患者的物理康复包括功能性点刺激、电子生物反馈、关节活动度训练、肌肉牵伸训练，肌力训练、转移训练、步态训练等，其治疗原则是循序渐进的增加患者肌力，抑制肌张力，促进肌肉进行正确的运动模式，但是要求每天多次、长时间的进行锻炼。常规的按摩如对患者进行屈伸下肢则需要医疗人员或家人花费大量的时间和精力，康复效果往往不尽人意。In the hospital, many people are paralyzed in the lower limbs or the whole body due to various reasons. Such patients are very painful and unable to take care of themselves, and if they are not regularly massaged to relax their muscles, their muscles will slowly atrophy, blood circulation will not be smooth, and the condition will be further aggravated. Physical rehabilitation for hemiplegic patients includes functional point stimulation, electronic biofeedback, joint range of motion training, muscle stretching training, muscle strength training, transfer training, gait training, etc. The treatment principle is to gradually increase the patient's muscle strength, inhibit Muscle tone, which promotes the correct movement patterns of the muscles, but requires multiple, long-term exercises every day. Conventional massage, such as flexing and extending the lower limbs of patients, requires medical staff or family members to spend a lot of time and energy, and the rehabilitation effect is often unsatisfactory.
发明内容Contents of the invention
本申请提供一种下肢康复外骨骼系统，用以辅助人体下肢进行被动运动以进行康复治疗。The present application provides a lower limb rehabilitation exoskeleton system, which is used to assist the lower limbs of the human body to perform passive movement for rehabilitation treatment.
本申请具有如下构成：This application has the following composition:
一种下肢康复外骨骼系统，包括下肢康复外骨骼设备和治疗水箱，所述治疗水箱设置在所述下肢康复外骨骼设备的外部；所述下肢康复外骨骼设备包括设备主体、大腿组件、髋关节组件、升降调节组件以及控制组件，其中，所述大腿组件通过所述髋关节组件与所述设备主体转动连接，所述升降调节组件安装在所述设备主体上，其中，所述升降调节组件包括吊带，所述吊带绑缚在人体的腋窝位置，所述髋关节组件和所述升降调节组件均与所述控制组件电连接。A lower limb rehabilitation exoskeleton system, including a lower limb rehabilitation exoskeleton device and a treatment water tank, the treatment water tank is arranged outside the lower limb rehabilitation exoskeleton device; the lower limb rehabilitation exoskeleton device includes a device main body, a thigh assembly, a hip joint assembly, a lift adjustment assembly and a control assembly, wherein the thigh assembly is rotatably connected to the device main body through the hip joint assembly, and the lift adjustment assembly is installed on the device main body, wherein the lift adjustment assembly includes A sling, the sling is bound at the armpit of the human body, and both the hip joint component and the lifting adjustment component are electrically connected to the control component.
在一个示例中，所述下肢康复外骨骼设备还可以包括小腿组件以及膝关节组件，其中，所述小腿组件通过所述膝关节组件与所述大腿组件转动连接，所述膝关节组件与所述控制组件电连接。In one example, the lower limb rehabilitation exoskeleton device may further include a lower leg assembly and a knee joint assembly, wherein the lower leg assembly is rotationally connected to the thigh assembly through the knee joint assembly, and the knee joint assembly is connected to the thigh assembly. The control assembly is electrically connected.
在一个示例中，所述下肢康复外骨骼设备还可以包括一用于支撑人体脚掌的踏板，所述踏板与所述小腿组件连接。In an example, the lower limb rehabilitation exoskeleton device may further include a pedal for supporting the sole of a human foot, and the pedal is connected to the lower leg assembly.
具体地，所述膝关节组件可以包括第一电机、第一减速器、第一输出轴以及第一键，其中，所述第一电机与所述控制组件电连接，所述第一电机依次与所述第一减速器、所述第一输出轴连接，所述第一键安装在所述第一输出轴的外侧，且所述第一键用于转动连接所述大腿组件和所述小腿组件。Specifically, the knee joint assembly may include a first motor, a first reducer, a first output shaft, and a first key, wherein the first motor is electrically connected to the control assembly, and the first motor is sequentially connected to The first reducer is connected to the first output shaft, the first key is installed on the outside of the first output shaft, and the first key is used to rotationally connect the thigh assembly and the lower leg assembly .
具体地，所述髋关节组件可以包括第二电机、第二减速器、第二输出轴以及第二键，其中，所述第二电机与所述控制组件电连接，所述第二电机依次与所述第二减速器、所述第二输出轴连接，所述第二键安装在所述第二输出轴的外侧，且所述第二键用于转动连接所述设备主体和所述大腿组件。Specifically, the hip joint assembly may include a second motor, a second reducer, a second output shaft, and a second key, wherein the second motor is electrically connected to the control assembly, and the second motor is sequentially connected to The second reducer is connected to the second output shaft, the second key is installed on the outside of the second output shaft, and the second key is used to rotatably connect the device main body and the thigh assembly .
在一个示例中，所述下肢康复外骨骼设备还可以包括至少一根可拆卸的弹性带。In one example, the lower limb rehabilitation exoskeleton device may further include at least one detachable elastic belt.
具体地，所述升降调节组件还可以包括吊带摇动组件以及至少一个滑轮，所述吊带摇动组件和滑轮均安装在所述设备主体上，其中，所述吊带绕过所述滑轮设置并与所述吊带摇动组件连接。Specifically, the lifting adjustment assembly may further include a sling shaking assembly and at least one pulley, and the sling shaking assembly and the pulley are both installed on the device main body, wherein the sling is set around the pulley and connected to the Sling swing assembly connection.
具体地，所述治疗水箱中设有与所述控制组件电连接的温度感应器。Specifically, a temperature sensor electrically connected to the control assembly is provided in the treatment water tank.
与现有技术相比，本申请具有如下技术效果：Compared with the prior art, the present application has the following technical effects:
本申请基于下肢康复外骨骼设备对患者下肢进行被动运动以进行康复治疗，其大大节省了医疗人员或家人的时间和精力，且可取得较佳的康复治疗效果；进一步地，所述治疗水箱配合所述下肢康复外骨骼设备使用，对患者下肢康复带来运动康复和单一水疗的双重锻炼效果。This application is based on the lower limb rehabilitation exoskeleton equipment to passively exercise the patient's lower limbs for rehabilitation treatment, which greatly saves the time and energy of medical personnel or family members, and can achieve better rehabilitation treatment effects; further, the treatment water tank cooperates with The use of the lower limb rehabilitation exoskeleton device brings the double exercise effect of sports rehabilitation and single hydrotherapy to the patient's lower limb rehabilitation.
本申请利用升降调节组件将患者吊起，并使下肢进入治疗水箱中，患者在治疗水箱内通过依靠大/小腿组件模仿下肢行走进行康复锻炼外，还能运用治疗水箱中的温度、浮力及水静压作用等进行多种康复锻炼。This application uses the lifting adjustment component to lift the patient and make the lower limbs enter the treatment water tank. In addition to performing rehabilitation exercises in the treatment water tank, the patient can use the temperature, buoyancy and water in the treatment water tank to imitate the walking of the lower limbs by relying on the big/calf components. Various rehabilitation exercises such as hydrostatic pressure.
本申请中的髋关节组件和膝关节组件的屈曲伸展分别采用第一电机和第二电机驱动，在控制组件的控制作用下，能够模仿人迈步行走的角度和幅度，利于患者的下肢康复；同时下肢是放在预设治疗水温的治疗水箱中，下肢的摆动同时也相当于在水中做按摩，具有运动康复和单一水疗双重锻炼效果。The flexion and extension of the hip joint assembly and the knee joint assembly in this application are respectively driven by the first motor and the second motor. Under the control of the control assembly, it can imitate the angle and range of human walking, which is beneficial to the rehabilitation of the patient's lower limbs; at the same time The lower limbs are placed in the treatment water tank with preset treatment water temperature. The swing of the lower limbs is also equivalent to massage in the water, which has the double exercise effect of sports rehabilitation and single hydrotherapy.
附图说明Description of drawings
通过阅读参照以下附图所作的对非限制性实施例所作的详细描述，本申请的其它特征、目的和优点将会变得更明显：Other characteristics, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:
图1：本申请下肢康复外骨骼系统的结构示意图。Figure 1: Schematic diagram of the structure of the lower limb rehabilitation exoskeleton system of the present application.
具体实施方式Detailed ways
以下将结合附图对本申请的构思、具体结构及产生的技术效果作进一步说明，以充分地了解本申请的目的、特征和效果。The idea, specific structure and technical effects of the present application will be further described below in conjunction with the accompanying drawings, so as to fully understand the purpose, features and effects of the present application.
如图1所示，本实施例下肢康复外骨骼系统，包括下肢康复外骨骼设备和治疗水箱1，其中，所述治疗水箱1设置在所述下肢康复外骨骼设备的外部；所述下肢康复外骨骼设备包括设备主体9、大腿组件6、髋关节组件3、升降调节组件4以及控制组件5，其中，所述大腿组件6通过所述髋关节组件3与所述设备主体9转动连接，所述升降调节组件4安装在所述设备主体 9上，其中，所述升降调节组件4包括吊带41，所述吊带41绑缚在人体的腋窝位置，所述髋关节组件3和所述升降调节组件4均与所述控制组件5电连接。As shown in Figure 1, the lower limb rehabilitation exoskeleton system of this embodiment includes a lower limb rehabilitation exoskeleton device and a treatment water tank 1, wherein the treatment water tank 1 is arranged outside the lower limb rehabilitation exoskeleton device; The skeletal device includes a device main body 9, a thigh assembly 6, a hip joint assembly 3, a lifting adjustment assembly 4, and a control assembly 5, wherein the thigh assembly 6 is rotationally connected to the equipment main body 9 through the hip joint assembly 3, and the The lift adjustment assembly 4 is installed on the device main body 9, wherein the lift adjustment assembly 4 includes a sling 41, and the sling 41 is bound at the armpit position of the human body. The hip joint assembly 3 and the lift adjustment assembly 4 All are electrically connected with the control assembly 5 .
本实施例利用升降调节组件4将患者吊起并放置于所述下肢康复外骨骼设备的合适位置，其中，升降调节组件4中的吊带41绑缚在人体的腋窝位置，在控制组件5的控制作用下，与人体大腿固定的所述大腿组件6相对所述设备主体9转动并能够模仿人迈步行走的角度和幅度，从而使人体大腿得到治疗；并且，采用本实施例下肢康复外骨骼设备进行下肢屈伸运动，不需要耗费医疗人员或家人大量的时间和精力，所述治疗水箱配合所述下肢康复外骨骼设备使用，对患者下肢康复带来运动康复和单一水疗的双重锻炼效果。In this embodiment, the lifting adjustment assembly 4 is used to lift the patient and place it in a suitable position of the lower limb rehabilitation exoskeleton equipment, wherein, the sling 41 in the lifting adjustment assembly 4 is tied to the armpit position of the human body, and is controlled by the control assembly 5 Under the action, the thigh assembly 6 fixed to the human thigh rotates relative to the device main body 9 and can imitate the angle and range of human walking, so that the human thigh can be treated; and, using the lower limb rehabilitation exoskeleton device of this embodiment to carry out Lower limb flexion and extension exercises do not require medical personnel or family members to spend a lot of time and energy. The treatment water tank is used in conjunction with the lower limb rehabilitation exoskeleton equipment to bring the double exercise effect of sports rehabilitation and single hydrotherapy to the patient's lower limb rehabilitation.
本实施例依靠下肢康复外骨骼设备的外骨骼的功能锻炼并结合治疗水箱的水疗作用，对患者下肢康复进行综合治疗，在下肢康复外骨骼设备的控制作用下能够模仿人迈步行走的角度和幅度，同时下肢是放在预设治疗水温的治疗水箱1中，下肢的摆动同时也相当于在水中做按摩，具有运动康复和单一水疗双重锻炼效果；再者，设置的所述治疗水箱1对所述下肢康复外骨骼设备控制下肢运动起促进作用，使下肢能够克服水体阻力进行被动运动，可获得较佳的治疗效果。This embodiment relies on the functional exercise of the exoskeleton of the lower limb rehabilitation exoskeleton equipment and combines the hydrotherapy effect of the treatment water tank to provide comprehensive treatment for the patient's lower limb rehabilitation. Under the control of the lower limb rehabilitation exoskeleton equipment, it can imitate the angle and range of human walking At the same time, the lower limbs are placed in the treatment water tank 1 with preset treatment water temperature, and the swing of the lower limbs is also equivalent to doing massage in water, which has the dual exercise effect of sports rehabilitation and single hydrotherapy; The lower extremity rehabilitation exoskeleton device controls the movement of the lower limbs to promote the movement, so that the lower limbs can overcome the resistance of the water body to perform passive movement, and a better therapeutic effect can be obtained.
具体地，所述治疗水箱1中设有与所述控制组件5电连接的温度感应器。在具体实施过程中，可对治疗水箱1中的温度进行实时监测，必要时进行水温调节，如通过向治疗水箱1中补入冷/热水等，以满足水疗的温度要求。Specifically, a temperature sensor electrically connected to the control assembly 5 is provided in the treatment water tank 1 . In the specific implementation process, the temperature in the treatment water tank 1 can be monitored in real time, and the water temperature can be adjusted if necessary, such as adding cold/hot water to the treatment water tank 1, so as to meet the temperature requirements of hydrotherapy.
在一个示例中，所述下肢康复外骨骼设备还可以包括小腿组件7以及膝关节组件2，其中，所述小腿组件7通过所述膝关节组件2与所述大腿组件6转动连接，所述膝关节组件2与所述控制组件5电连接。在控制组件5的控制作用下，小腿组件7相对所述设备主体9转动，并能够模仿人迈步行走的角度和幅度，从而使人体小腿得到治疗。In one example, the lower limb rehabilitation exoskeleton device may further include a lower leg assembly 7 and a knee joint assembly 2, wherein the lower leg assembly 7 is rotationally connected to the thigh assembly 6 through the knee joint assembly 2, and the knee joint assembly 2 The joint assembly 2 is electrically connected with the control assembly 5 . Under the control of the control assembly 5, the calf assembly 7 rotates relative to the device main body 9, and can imitate the angle and range of human walking, so that the human calf can be treated.
在一个示例中，所述下肢康复外骨骼设备还可以包括至少一根可拆卸的弹性带，所述弹性带用于将大腿组件6/小腿组件7与患者对应的下肢进行绑缚固定，其中，所述弹性带主要起辅助固定作用，对患者主要的作用力还是来自于吊带41的绑缚支撑。In one example, the lower limb rehabilitation exoskeleton device may also include at least one detachable elastic belt, which is used to bind and fix the thigh component 6/calf component 7 and the corresponding lower limbs of the patient, wherein, The elastic belt mainly serves as an auxiliary fixation function, and the main force on the patient still comes from the binding support of the sling 41 .
在一个示例中，所述下肢康复外骨骼设备还可以包括踏板8，所述踏板8与所述小腿组件7连接。其中，所述踏板8用于辅助支撑人体脚掌。其中，所述膝关节组件2包括第一电机、第一减速器、第一输出轴以及第一键，其中，所述第一电机与所述控制组件5电连接，所述第一电机依次与所述第一减速器、所述第一输出轴连接，所述第一键安装在所述第一输出轴的外侧，且所述第一键用于转动连接所述大腿组件6和所述小腿组件7。通过控制组件5预先设置好的程序使第一电机转动，第一电机扭矩通过第一减速器，第一输出轴以及第一键传递到大腿组件6/小腿组件7，从而带动绑在上面需要锻炼的左、右下肢进行康复训练。In an example, the lower limb rehabilitation exoskeleton device may further include a pedal 8 connected to the lower leg assembly 7 . Wherein, the pedal 8 is used to assist in supporting the sole of the human body. Wherein, the knee joint assembly 2 includes a first motor, a first reducer, a first output shaft and a first key, wherein the first motor is electrically connected to the control assembly 5, and the first motor is sequentially connected to The first reducer is connected to the first output shaft, the first key is installed on the outside of the first output shaft, and the first key is used to rotationally connect the thigh assembly 6 and the lower leg Component7. The pre-set program of the control component 5 makes the first motor rotate, and the torque of the first motor is transmitted to the thigh component 6/calf component 7 through the first reducer, the first output shaft and the first key, thereby driving the upper leg component 6/calf component 7 to be bound to exercise Rehabilitation training for left and right lower limbs.
具体地，所述髋关节组件3可以包括第二电机、第二减速器、第二输出轴以及第二键，其中，所述第二电机与所述控制组件5电连接，所述第二电机依次与所述第二减速器、所述第二输出轴连接，所述第二键安装在所述第二输出轴的外侧，且所述第二键用于转动连接所述设备主体9和所述大腿组件6。通过控制组件5预先设置好的程序使第二电机转动，第二电机扭矩通过第二减速器，第二输出轴以及第二键传递到大腿组件6，从而带动绑在上面需要锻炼的左、右下肢进行康复训练。Specifically, the hip joint assembly 3 may include a second motor, a second reducer, a second output shaft, and a second key, wherein the second motor is electrically connected to the control assembly 5, and the second motor It is sequentially connected with the second reducer and the second output shaft, the second key is installed on the outside of the second output shaft, and the second key is used to rotatably connect the equipment main body 9 and the The thigh assembly 6 is described. The pre-set program of the control assembly 5 makes the second motor rotate, and the torque of the second motor is transmitted to the thigh assembly 6 through the second speed reducer, the second output shaft and the second key, thereby driving the left and right hands that need to be exercised. Rehabilitation training for lower extremities.
具体地，所述升降调节组件4还可以包括吊带摇动组件42以及至少一个滑轮43，所述吊带摇动组件42和滑轮43均安装在所述设备主体9上，其中，所述吊带41绕过所述滑轮43设置并与所述吊带摇动组件42连接。摇动所述吊带摇动组件42，进而调节绑缚在人体腋窝位置的吊带41的长度，从而对人体的升降高度进行调节。Specifically, the lifting adjustment assembly 4 may also include a sling shaking assembly 42 and at least one pulley 43, and the sling shaking assembly 42 and the pulley 43 are both installed on the device main body 9, wherein the sling 41 goes around the The pulley 43 is arranged and connected with the sling shaking assembly 42 . Shake the sling shaking assembly 42, and then adjust the length of the sling 41 bound at the armpit of the human body, thereby adjusting the lifting height of the human body.
本申请的工作原理如下所示：This application works as follows:
将患者用升降调节组件4中的吊带41吊起，调节合适高度后，并将患者下肢放入治疗水箱1中(以水面齐腰部为宜)，然后启动开关，通过控制组件 5预先设置好的程序来控制髋关节组件3/膝关节组件2工作，并将第二电机/ 第一电机的扭矩输送至大腿组件6/小腿组件7，从而带动绑在上面需要锻炼的左、右下肢模仿人迈步行走的角度和幅度进行运动；同时患者的下肢是放在根据治疗需求设定的温度的治疗水箱1中，下肢的摆动同时也在水中做按摩，达到了运动康复和单一水疗的双重锻炼效果。Lift the patient with the sling 41 in the lifting adjustment assembly 4, after adjusting the appropriate height, put the patient's lower limbs into the treatment water tank 1 (it is advisable to use the water surface to be at the waist), then start the switch, and the pre-set by the control assembly 5 The program is used to control the work of the hip joint assembly 3/knee joint assembly 2, and deliver the torque of the second motor/first motor to the thigh assembly 6/calf assembly 7, thereby driving the left and right lower limbs tied to it and needing exercise to imitate human steps The angle and range of walking are used for exercise; at the same time, the patient's lower limbs are placed in the treatment water tank 1 with a temperature set according to the treatment needs, and the swing of the lower limbs is also massaged in the water, achieving the dual exercise effect of sports rehabilitation and single hydrotherapy.
本申请基于下肢康复外骨骼设备对患者下肢进行被动运动以进行康复治疗，其大大节省了医疗人员或家人时间和精力，且可取得较佳的康复治疗效果；并依靠外骨骼的功能锻炼并结合水疗，对患者下肢康复带来了更好的治疗效果；本申请利用升降调节组件将患者吊起，并使下肢进入治疗水箱中，患者在治疗水箱内通过依靠大/小腿组件模仿患者下肢行走进行康复锻炼外，还能运用治疗水箱中的温度、浮力及水静压作用等进行多种康复锻炼；本申请中的髋关节组件和膝关节组件的屈曲伸展分别采用第一电机和第二电机驱动，在控制组件的控制作用下，能够模仿人迈步行走的角度和幅度，利于患者的下肢康复；同时下肢是放在预设治疗水温的治疗水箱中，下肢的摆动同时也相当于在水中做按摩，具有运动康复和单一水疗双重锻炼效果。This application is based on the lower limb rehabilitation exoskeleton equipment to passively exercise the patient's lower limbs for rehabilitation treatment, which greatly saves the time and energy of medical personnel or family members, and can achieve better rehabilitation treatment effects; and relies on the functional exercise of the exoskeleton and combines Hydrotherapy brings a better therapeutic effect on the rehabilitation of patients' lower limbs; this application uses the lifting adjustment component to lift the patient and make the lower limbs enter the treatment water tank. In addition to rehabilitation exercises, various rehabilitation exercises can be performed by using the temperature, buoyancy and hydrostatic pressure in the treatment water tank; the flexion and extension of the hip joint assembly and the knee joint assembly in this application are respectively driven by the first motor and the second motor , under the control of the control component, it can imitate the angle and range of human walking, which is beneficial to the rehabilitation of the patient's lower limbs; at the same time, the lower limbs are placed in the treatment water tank with preset treatment water temperature, and the swing of the lower limbs is also equivalent to doing massage in water , has the double exercise effect of sports rehabilitation and single hydrotherapy.
以上实施例仅用以说明本申请的技术方案而非限定，参照较佳实施例对本申请进行了详细说明。本领域的普通技术人员应当理解，可以对本申请的技术方案进行修改或等同替换，而不脱离本申请技术方案的精神和范围，均应涵盖在本申请的权利要求范围内。The above embodiments are only used to illustrate the technical solution of the present application rather than limit it, and the present application is described in detail with reference to the preferred embodiments. Those of ordinary skill in the art should understand that the technical solutions of the present application can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present application, and all should be covered within the scope of the claims of the present application.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108836748A (en) * | 2018-06-29 | 2018-11-20 | 上海掌门科技有限公司 | A kind of lower limb rehabilitation exoskeleton system |
| CN113616484A (en) * | 2021-09-15 | 2021-11-09 | 杭州程天科技发展有限公司 | Isolated exoskeleton robot system for underwater rehabilitation and underwater rehabilitation method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108836748A (en) * | 2018-06-29 | 2018-11-20 | 上海掌门科技有限公司 | A kind of lower limb rehabilitation exoskeleton system |
| CN113616484A (en) * | 2021-09-15 | 2021-11-09 | 杭州程天科技发展有限公司 | Isolated exoskeleton robot system for underwater rehabilitation and underwater rehabilitation method |
| CN113616484B (en) * | 2021-09-15 | 2023-06-20 | 杭州程天科技发展有限公司 | Isolated exoskeleton robot system for underwater rehabilitation and underwater rehabilitation method |
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