42results about How to "Improve the effect of rehabilitation treatment" patented technology

Disclosed are an inertial-sensor-based wearable hemiplegia rehabilitation apparatus and a strap-down attitude algorithm. The inertial-sensor-based wearable hemiplegia rehabilitation apparatus mainly comprises an upper computer and an inertia measurement system. Inertia measurement units distributed on different body parts of a patient acquire attitude angle information of the patient moving, through inertial sensors; the attitude angle information is transmitted to the upper computer through a wireless transmission module; the upper computer tracks the rehabilitation training process of the patient in real time according to the attitude angle information of different positions. The invention further provides a strap-down attitude algorithm based on plane constraint. According to the method, a restraint plane is established according to previous-moment motion attitudes of a forearm and a postbrachium during moving, the restraint plane is used to restrain acceleration information, systematic self-restrained measurement is achieved accordingly, and angle measurement is better in stability and accuracy. The inertial-sensor-based wearable hemiplegia rehabilitation apparatus and the strap-down attitude algorithm have the advantages that accurate rehabilitation motion attitudes and accurate amount of motion can be provided according to conditions of the patient with hemiplegia, degree and times of completing each set of moves are recorded for the patient, and a function of simple evaluation on hemiplegia and treatment effect for the patient with hemiplegia is provided.

The invention discloses a suspension type self-adaptive weight reducing device for rehabilitation training and a rehabilitation training robot. The device comprises a foldable mobile training frame, alower limb training assistive device carrying device, a weight reducing vest, a pulley rope system and a self-adaptive weight reducing box, the box is internally provided with a rope winding device and a self-adaptive gravity following device, the rope winding device is connected with a rope roller through a coupling by means of a servo motor cooperating with a speed reducer, and the reduced gravity is provided for a patient by winding or releasing the rope; the rope is led out by the rope roller and winds around a pulley on the side face of a mounting plate to be connected with the weight reducing vest through a pulley block on the self-adaptive gravity following device, the gravity position is calculated by collecting the joint rotation angle of the patient, a motor of the self-adaptivegravity following device is controlled to drive a lead screw to rotate through the coupling, and a shifting board connected with a lead screw nut drives a movable pulley to do liner motion. In this way, the length of the suspension rope in the training process of the patient is adjusted, gravity following is achieved, and the roughly constant reduce gravity is maintained.

The invention discloses a rehabilitation therapy management system which comprises a rehabilitation therapy server unit, a rehabilitation therapy evaluating and diagnosing workstation unit, a rehabilitation equipment unit, a communication unit and a power supply unit; the rehabilitation therapy server unit, the communication unit, the rehabilitation therapy evaluating and diagnosing workstation unit and the rehabilitation equipment unit are connected in sequence; the power supply unit is respectively connected with electric equipment in the rehabilitation therapy server unit, the communication unit, the rehabilitation therapy evaluating and diagnosing workstation unit and the rehabilitation equipment unit. According to the rehabilitation therapy management system disclosed by the invention, the disadvantages of low working efficiency, fussy therapy process, waste of rehabilitation resource, poor reliability, small application range and the like in the prior art can be overcome; the advantages of high working efficiency, convenience in therapy, shared resource, good reliability and large application range can be realized.

The invention relates to a rehabilitation medical bed, and especially relates to a rehabilitation medical bed used for assisting rehabilitation of both legs. A to-be-solved technical problem is to provide the rehabilitation medical bed used for assisting rehabilitation of both legs. Provided is the rehabilitation medical bed used for assisting rehabilitation of both legs. The bed comprises a base device, a right bed device, a left bed device, a pendulous device, and a leg guard moving device. The base device comprises a base, a sliding rail I, a sliding block I, a positioning bolt I, and a positioning bolt II. The right bed device comprises a right bed board, a connecting frame V, a hip board I, and a hip board II. The left bed device comprises a left bed board, a connecting column, a connecting frame VI, and a connecting frame VII. The leg guard moving device comprises a rear leg guard board, and a front leg guard board, etc. An up-down stretching device comprises a pulley block I, and a pulley block II, etc. A horizontal stretching device comprises a pulley block III, a pulley block IV, a pulley block V, and a pulley block VI. The rehabilitation medical bed used for assisting rehabilitation of both legs can perform multi-azimuth rehabilitation treatment on a patient, and provides convenience for maintenance.

The invention belongs to the medical apparatus and instrument field and provides a closed-loop brain controlled functional electrical stimulation system. The closed-loop brain controlled functional electrical stimulation system is characterized in that the system includes a cerebral motor cortex signal acquisition module, an information control module, a stimulator, a body movement acquisition module and a frontal lobe signal acquisition module, wherein the information control module includes a signal pre-processing sub-module, a pattern recognition module and a command control sub-module. The closed-loop brain controlled functional electrical stimulation system provided by the technical schemes of the invention is advantageous in that the closed-loop brain controlled functional electrical stimulation system can ensure the accuracy of limb movement the identification and improve the rehabilitation treatment effect of patients with paralysis.

The invention discloses a shoulder joint rehabilitation training device. The shoulder joint rehabilitation training device comprises a fixing shell, dial gauges, a stepping motor, a rotary shaft, a gear, a rack, a receding hole, a first travel switch, a second travel switch, a connecting base, supporting rods, fixing plates, fixing bases, sliding rods, limiting plates and springs. The shoulder joint rehabilitation training device is ingenious in structure and powerful in function. When the device is used, it can be convenient for a patient to take shoulder joint tension exercise, the rehabilitation training effect of shoulder joints of the patient is improved, moreover, the heights of handles can be adjusted through simple operation according to the shoulder joint heights of different patients, finally, in this way, while the rehabilitation treating effect of the patient is improved, the requirements for training of the patients different in stature and body type are greatly met, and the device is easily applied and popularized in the medical industry.

The invention discloses a pneumatic muscle driven modularized exoskeleton elbow-wrist rehabilitation robot. The pneumatic muscle driven modularized exoskeleton elbow-wrist rehabilitation robot comprises an elbow joint rehabilitation module, a wrist joint rehabilitation module, an arm protector modules and a wrist protector module; the arm protector modules are detachably installed on the elbow joint rehabilitation module, and used for connecting the upper arm of a patient with the elbow joint rehabilitation module, assisting the patient in training elbows; the arm protector modules and the wrist protector module are detachably installed on the wrist joint rehabilitation module and used for connecting the forearm and the hand of the patient with the wrist joint rehabilitation module, assisting the patient in training wrist. According to the pneumatic muscle driven modularized exoskeleton elbow-wrist rehabilitation robot provided in the invention, all the modules are detachably connected, use is convenient, high practicability and applicability are achieved, pneumatic muscles are adopted as drivers, and the elbow-wrist joint independent auxiliary training function and the elbow-wristjoint composite auxiliary training function are achieved through cooperation of ropes and steering wheels.

The invention provides a dynamic identification intelligent rehabilitation system based on a block chain, including a dynamic data module, a physiological information module, a gesture information module, a control module; all modules have public and private key settings, asymmetric encryption for block chain data transmission; when the somatosensory camera captures the user dynamically, it can make full use of the interactive skills and habits formed naturally in daily life to capture the dynamic data, and automatically adjust the process of rehabilitation treatment by collecting physiological information and using acceleration sensor to sense the gesture changes to adapt to the situation of the user. The invention has the advantages that: Real-time human-machine planning, intelligent decision-making and control are realized through multi-sensor fusion of environment perception and human-machine cointegration. All relevant data are stored and transmitted through block chains, and thesecurity of data storage and transfer is solved by asymmetric encryption, which greatly improves the effect of rehabilitation treatment and meets the needs of various groups of people.

The invention relates to the field of medicinal equipment and in particular relates to an intelligent wearable cerebral palsy child rehabilitation robot which comprises a machine body, binding belts, leg exercise devices, waist twisting devices, a waist jacking exercise device, a power-off protection device, a distance adjusting device, an upper mounting base, a lower mounting base, a cylinder and a controller, wherein the leg exercise devices penetrate through the interior of the machine body; the waist twisting devices are symmetrically mounted inside the machine body; the waist jacking exercise device is connected with the right side of the machine body; return prevention devices are mounted on the front side and rear side of the machine body; the distance adjusting device is connected with the left side of the machine body; the cylinder is mounted at the bottom of the machine body; the cylinder is connected with the upper mounting base; and the lower mounting base is mounted on the distance adjusting device. When the robot is used by a patient, upper limbs and lower limbs of the patient can be intelligently and reasonably exercised, and a treatment effect on the patient is ensured; and meanwhile, compared with the prior art, the robot is capable of remarkably improving the rehabilitation treatment effect on children suffering from cerebral palsy, and is convenient for patients to wear.

The invention relates to a dynamic ankle joint recovery driving unit capable of quickly replacing baseboards. The unit is characterized by comprising two spaced brackets, a motor and a speed reducer are firmly connected with one bracket, the output end of the motor is connected with the input end of the speed reducer through a synchronous belt, the output end of the speed reducer is connected with one end of a first connection plate through a torque sensor, the other bracket is connected with one end of a second connection plate through a bearing, the other end of the first connection plate and the other end of the second connection plate are firmly connected with a main baseboard together, the main baseboard is detachably connected with a replaceable baseboard, and the replaceable baseboard is fixedly connected with a foot fixing sleeve.

The present invention discloses a neurological intensive rehabilitation diagnosis and treatment system in the field of medical care. The system comprises a diagnosis system, an assessment system, a conventional therapy system, a rehabilitation therapy system and an information running system. The neurological intensive rehabilitation diagnosis and treatment system is a software platform based on Hadoop and is computer application software. A diagnosis standard and a rehabilitation therapy routine of medical clinic neurological intensive rehabilitation science are processed digitally and then input into a computer data system; and then the rehabilitation therapy system performs diagnosis and rehabilitation assessment of a neurological intensive system disease according to the diagnosis system and the assessment system, and imports record data into a clinic case management system of a computer cloud end. The system disclosed by the present invention has the advantages of normalized diagnosis and treatment procedures, convenient operation, correct and efficient diagnosis and the like.

The invention belongs to the field of electronic medicare, in particular to a method for introducing low potential direct current negative electricity into a sick body and a system thereof; the system equipment consists of five parts, including a low potential direct current negative electricity generator, a negative electricity introducer, a channels and collaterals introducer, an introduction flow quantity manager and a working power; the method for introducing low potential direct current negative electricity into the sick body is as follows: the low potential direct current negative electricity generator generates low potential direct current negative electricity and radio frequency pulse negative electricity, the negative electricity introducer is used for introducing the low potential direct current negative electricity and radio frequency pulse negative electricity into the sick body in a non-invasive way to supplement and enlarge the electric potential of the cell membrane; at the same time, the channels and collaterals introducer is used for carrying out focal stimulation on the channels and collaterals sickness-related acupuncture points of the sick body, thus enhancing the permeability of the cell membrane, activating the cells, restoring the weakened and paralyzed cell functions, further restoring the organ functions of the sick body in terms of the cellular level and achieving the aim of rehabilitation therapy and prevention and health care.

The invention discloses a disc type magnetorheological damper lower limb rehabilitation robot, and relates to the technical field of medical instruments. The disc type magnetorheological damper lowerlimb rehabilitation robot is characterized in that: two hip joint belt pulleys are respectively connected to an output end of a hip joint reducer and a lateral top of a thigh rod; a hip joint belt ismounted on the two hip joint belt pulleys and used for transmitting power of a hip joint motor to the thigh rod via the two hip joint belt pulleys; two knee joint belt pulleys are respectively connected to the output end of a knee joint reducer and the lateral top of a calf rod; and a knee joint belt is mounted on the two knee joint belt pulleys and used for transmitting the power of a knee jointmotor to the calf rod via the two knee joint belt pulleys. According to the invention, disc-type magnetorheological dampers are respectively arranged between the hip joint motor and the hip joint reducer and between the knee joint motor and the knee joint reducer, thereby realizing the control of the output torque of the motors, and solving the problem of excessive output torque of a driving motor; and moreover, an anti-resistance effect can be provided when a patient actively trains, thereby facilitating the enhancement of the rehabilitation treatment effect.

The upper limb air bubble eddy current electric water bath includes the seat. The left and right baths are respectively located on the left and right sides of the seat through the support frame; the structure of the left and right baths is the same, and the structure of the left bath is: There is an electrotherapy device on the outer wall of the body, one electrode in the electrotherapy device is placed in the liquid medicine in the bath, and the other electrode is attached to the proximal end of the limb on the same side. The upper chamber of the tank is the bath, and the lower chamber is the electrical room. , There is a forearm frame in the bath, a water pump, a heating tube and an air bubble machine are installed in the electrical room, the liquid medicine in the bath is circulated through the water pump, the heating tube heats the liquid medicine, and the air bubbles in the liquid medicine are generated by the air bubble machine. The electrotherapy instrument can promote the infiltration of the medicinal components in the medicinal liquid into the patient's body, the circulation, the constant temperature medicinal liquid flow and the air bubbles in the medicinal liquid. The combination of the four can effectively stimulate the patient's limbs with electric current and water flow massage, and promote the active ingredients of the drug. Absorb, maintain the constant water temperature required for treatment, ensure the comfort of treatment and improve the effect of rehabilitation treatment.

The invention relates to a vehicle-mounted flexible ankle training device. The vehicle-mounted flexible ankle training device comprises: a plurality of flexible driving elements connected to an air pump through the air pipes independently; a double-layer pedal mechanism detachably mounted on a wheelchair, wherein the double-layer pedal mechanism comprises a base plate, a foot plate seat movably connected to the base, and a foot plate rotatably connected to the foot plate seat, a part of the flexible driving element is used to drive the foot plate seat, so that the foot can perform three kindsof motion forms, the other part is used to drive the foot plate to perform a flat rotation motion, so that the foot can perform the flat rotation and the compound motion of and the flat rotation and the above three movements. Compared with the prior art, the vehicle-mounted flexible ankle training device realizes the rehabilitation training action of various movement forms of the ankle joint through the flexible driving components on the wheelchair, has good flexibility, smooth motion, good cushioning, simple structure, light weight, moisture resistance, good environment adaptation, and treatment motion applied biological characteristics, more precise movement is and simpler control, and the healing effect can be better promoted, and the secondary injury can be reduced.

The invention relates to a noninvasive muscle bone joint detection corrector which comprises a massage contact, a connecting rod, a vibration generator and a numerical control system, wherein the vibration generator is arranged in a body; one end of the massage contact is fixedly connected with the connecting rod; the rod body of the connecting rod, positioned in the body, is divided into a driven part and a positioning part; the driven part is in fit connection with the vibration generator capable of enabling the connecting rod to reciprocate; the positioning part is in fit connection with a positioning sleeve capable of preventing the connecting rod from rotating axially; and the positioning sleeve is fixed in the body. The noninvasive muscle bone joint detection corrector provided by the invention consists of the massage contact, the connecting rod, the vibration generator, a force sensor and the numerical control system; the massage force is detected through the force sensor, and the vibration frequency of the vibration generator is controlled by the numerical control system; and the noninvasive muscle bone joint detection corrector is applicable to the massage force on the muscle bone joints at different body parts, realizes contact type vibration correction and stimulates the muscles and nerves around the joints to make the hardened muscles and nerves move and the deformed and displaced joints reset so as to achieve an aim of correction.

The invention relates to the field of medical equipment, and discloses an adjustable medical head protection device which comprises a first bottom plate, a head supporting part used for supporting the head is installed at the top end of the first bottom plate, and head fixing blocks used for fixing the head are oppositely arranged on the two sides of the top end of the head supporting part; the head fixing blocks can clamp and fix the head of a patient supported on the head supporting component, and the two head fixing blocks can move at the top end of the head supporting component, so that the clamping space between the two head fixing blocks is adjusted according to the size of the head of the patient; the head of a patient between the two head fixing blocks can be clamped and fixed, the situation that the patient unconsciously changes the position of the head when the patient loses consciousness or is in a sleep state is avoided, the two head fixing blocks wrap the two ends of the head of the patient, the head of the patient is prevented from colliding with an object or a person in the external environment, and the patient is prevented from falling off. Therefore, the head of the patient is protected, and the practicability of the device in use is effectively improved.

The invention discloses a long-cylinder type magneto-rheological damper lower limb rehabilitation robot, and relates to the technical field of medical instruments. The long-cylinder type magneto-rheological damper lower limb rehabilitation robot is characterized in that a hip joint magneto-rheological damper rack and a knee joint magneto-rheological damper rack are arranged at the tail ends of a hip joint magneto-rheological damper and a knee joint magneto-rheological damper respectively; a hip joint belt wheel is partitioned into a part which is matched with a hip joint belt and a part whichis meshed with the hip joint magneto-rheological damper rack along the axial direction of the hip joint belt wheel; a knee joint belt wheel is partitioned into a part which is meshed with a knee jointbelt and a part which is meshed with the knee joint magneto-rheological damper rack along the axial direction of the knee joint belt wheel; a hip joint motor and a knee joint motor drive the hip joint belt wheel and the knee joint belt wheel to rotate through the hip joint belt and the knee joint belt respectively. By adopting the long-cylinder type magneto-rheological damper lower limb rehabilitation robot, the rotation damping torque of rehabilitation robot joints is adjusted by using the controllable damping characteristic of a magneto-rheological damper, so that the problem of over largeoutput torque of a driving motor is solved. Meanwhile, a damping resisting effect can be achieved during active exercise of a patient, so that the rehabilitation treatment effect is enhanced.

The invention discloses a postoperation fumigation recovery device for a urology department. The postoperation fumigation recovery device comprises a fumigation component, wherein the fumigation component comprises a fumigation seat disk; the outer side wall of the fumigation seat disk is fixedly connected with a plurality of fumigation plates; an atomization empty cavity is arranged in each fumigation plate; and the inner side wall of each fumigation plate is also provided with a plurality of fumigation holes. The postoperation fumigation recovery device for the urology department also comprises the fumigation component for communicating with the plurality of fumigation plates, wherein the fumigation component comprises a fumigation generation barrel in which a heating resistance wire isarranged; the upper end of the side wall of the fumigation generation barrel communicates with a through pipe; the through pipe communicates with an annular fumigation pipe; and the annular fumigationpipe independently communicates to the lower end of the side wall of each fumigation plate through the communication pipe. The postoperation fumigation recovery device for the urology department alsocomprises a blocking and covering body in sliding connection to be above the top parts of the fumigation plates, wherein the blocking and covering body is driven through an air cylinder component. The above device can cause medicine mist to move downwards to act on the body of a patient, in addition, perspiration can be automatically cleaned, a fumigation effect of the patient is improved, and aneffect of rehabilitation therapy is improved.

The invention discloses an ear massager for tinnitus rehabilitation. The massager comprises a grip, an external thread and a small motor. An outer protective sleeve wraps the outer side of the grip, an end cover is installed at the right side of the grip through a bolt, the external thread is arranged at the left side of the outer side of the grip, a sterilizing cover is arranged at the left partof the grip, an auditory meatus massage bar is arranged at the left side of the middle of the grip, an auricle massage plate is arranged in the middle of the auditory meatus massage bar, the small motor is installed inside the grip, a storage battery is arranged at the right side of the small motor, an eccentric wheel is installed at the output end of the small motor, a buffer strip is arranged atthe outer side of the small motor, a first wire slot is formed in the upper surface of the grip, and a buffer layer is embedded into the inner side of the left side of the grip. The ear massager fortinnitus rehabilitation is provided with an auricle massage plate, in the using process, by cooperatively using the auditory meatus massage bar, vibration is effectively performed, the auricle contouris massaged, and the practicability of the massager is ensured.

The invention relates to a rehabilitation correction pillow for cervical vertebral deformation series diseases, including a shoulder seat, a neck seat and a head seat, wherein the neck seat comprisesa left neck guard bracket, a right neck guard bracket, a cervical vertebra guard bracket and a cervical vertebra limit groove, the cervical vertebra limit groove corresponds to the normal cervical vertebra curve direction of the human body, the cervical vertebra limit groove is arranged at the center of the cervical vertebra guard bracket, the cervical vertebra limit groove has the cross-sectionalshape of a concave arc, and a mosaic permanent magnet sheet is arranged on the shoulder seat, the neck seat and the head seat. The patient sleeps directly on his back on this pillow, the neck is located between the left and right neck brackets, so that the cervical vertebra is located in the cervical vertebra limiting groove on the cervical vertebra protective bracket, relying on self-weight forphysical correction, to restore the reverse arch of the cervical spine, A synergistic effect of a permanent magnet sheet and a traditional Chinese medicine bag is adopt to improve that rehabilitationtreatment effect and alleviate the uncomfortable or painful feeling cause by the physical correction when the correction is carried out, and the permanent magnet sheet can be used as a pillow for daily use, can be used in combination with a special physiotherapy hospital bed of a hospital, and can also be installed on the back of a seat to carry out auxiliary treatment.

The invention belongs to the technical field of rehabilitation medical instruments in the burn department, and particularly discloses a comprehensive hand burn treatment and rehabilitation device which comprises a limiting assembly, a palm assembly, at least five finger assemblies, a power assembly and a control system for driving the power assembly to work. The finger part assembly is connected to the palm part assembly, the palm part assembly and the finger part assembly can press the hand of a patient, the power assembly is used for driving the finger part assembly to press, and the control system is used for adjusting the working duration and frequency of the power assembly. By the adoption of the scheme, a burnt finger can be limited and fixed, scars of the hand can be pressed in the limiting and fixing process, meanwhile, a power assembly is arranged, the fingers of a patient can be driven to move, and the rehabilitation treatment effect is improved.

The invention discloses a manufacturing method of a multi-stage adjustable active wearable lower limb rehabilitation device. The manufacturing method specifically comprises the following steps of S1, pre-setting the size of an elastic piece, and cutting an EAP artificial muscle material according to the preset size to serve as a first elastic piece layer; S2, uniformly coating the lower surface of the first elastic piece layer with a first silica gel wire electrode, and uniformly coating the upper surface of the first elastic piece layer with a second silica gel wire electrode; S3, connecting a conductive adhesive tape with the first silica gel wire electrode and the second silica gel wire electrode, and leading out a positive electrode and a negative electrode to prepare an actively compressed wearing driving part; and S4, arranging a stretchable layer on the surface of the side, wrapping the leg of the human body, of the wearing driving part to form a flexible sleeve structure. The multi-stage adjustable active wearable lower limb rehabilitation device provided by the invention is an active wearable lower limb rehabilitation sleeve device, and can effectively solve the existing problems of thrombus medical equipment and stretch socks.

The invention relates to the technical field of orthopedic rehabilitation treatment, and especially relates to orthopedic rehabilitation treatment equipment. The equipment includes a flat plate; a vertical plate is connected to the right side of the flat plate; a PLC controller is mounted on the right side of the vertical plate; a pillow is disposed on the left side of the vertical plate; supporting columns are disposed equidistantly around the lower end of the vertical plate; the lower ends of the supporting columns are provided with casters; the upper end of the vertical plate is provided with a groove; the upper end of the vertical plate is connected with a cover plate matching a position of the groove; the right side of an inner cavity of the groove is symmetrically provided with a motor; the left side of the motor is connected to a screw rod through a coupler; the left side of the inner cavity of the groove is symmetrically provided with a machine frame in sleeve joint therewith;the outer side of the screw rod is sleeved with a threaded sleeve; and the upper end of the cover plate is symmetrically provided with a long groove matching the cover plate. The equipment is simple in structure, is convenient to effectively improve rehabilitation treatment effects of a patient, is convenient to prevent secondary damage of the patient, and is convenient to use.

The invention discloses an upper limb rehabilitation training method based on photoelectric multimode feedback of mirror image therapy. The method comprises the following steps: collecting an uninjured side hand image of a patient and performing spatial imagination assessment on the upper limb according to the hand image; collecting finger kinematic parameters of the patient in the upper limb rehabilitation training process in real time and performing hand kinematic assessment on the upper limb according to the finger kinematic parameters; adjusting the training method according to the result of the spatial imagination assessment and the result of the hand kinematic assessment. According to the method provided by the invention, the combination of visual mirror image, multisensory feedback technique and space sensory control technique is adopted for directly performing central stimulation on the patient, activating brain motion and feeling cortex, so that the hand functional rehabilitation therapeutic effect is enhanced, the resource shortage is relieved and the defects of domestic and overseas hand functional rehabilitation can be technically overcome.

The invention discloses a novel upper limb rehabilitation training system integrating multi-source stimulation, which comprises an upper limb rehabilitation body, and is characterized in that a rigid circular ring A, a rigid circular ring B, a rigid circular ring C and a rigid circular ring D are respectively arranged on the upper limb rehabilitation body; a first rope node, a second rope node, a third rope node and a fourth rope node are respectively fixed on the rigid circular ring A, the rigid circular ring B, the rigid circular ring C and the rigid circular ring D; the invention relates to the technical field of upper limb rehabilitation training. According to the novel upper limb rehabilitation training system integrating multi-source stimulation, the working principle of muscles is simulated more truly through the line driving mode, the kinematics law of the human body is met, many complex mechanical structures are reduced through the line driving mode, the force conduction process becomes very simple, and according to the technical scheme, the weight of a rehabilitation robot is reduced; the wearing comfort degree is also improved, and basic guarantee is provided for the whole body and mind of the patient in the rehabilitation training process.

The invention discloses nutritional formulated food for people undergoing radiochemotherapy and a preparation method therefor. The preparation method comprises the following specific steps: (1) weighing traditional Chinese medicine substances in corresponding parts by weight: lycium barbarum, herba portulacae, herba houttuyniae, semen coicis, poria cocos and radix ginseng, adding the raw materialsand water in a pot according to a loading quantity relative ratio of 1: 10, carrying out decocting with intense fire, then, carrying out decoction concentrating with slow fire, and carrying out natural cooling; (2) weighing raw materials in corresponding parts by weight: walnut kernels, shiitake mushrooms, kelp, broccoli and corn kernels, and crushing the raw materials in a crusher; and (3) adding the raw materials crushed in the step (2) in a stirring barrel, adding raw materials in corresponding parts by weight: chicken meal, soybean protein powder, fish scale collagen, starch and resistantdextrin, carrying out uniform stirring and mixing, and adding the decoction prepared in the step (1) with stirring. The special medical-purpose formulated food meets special needs of people in a foodintake restriction, digestion and absorption disorder, metabolic disorder or specific disease state on nutrients or meals.