349 results about "Lower limb exercises" patented technology

The invention relates to a mass balancing device and method for a lower limb rehabilitation training patient. The balancing device comprises a reduced gravity generating mechanism, a bracket, an electric winch, a steel wire rope, a pulley wheel, a force sensor, a suspender, a running machine and a control system. When a reduced gravity walking training is carried out, the patient wears the suspender to stand on the running machine; the suspender is connected to the steel wire rope through the pulley wheel and two ends of the steel wire rope are respectively mounted on the reduced gravity generating mechanism and the electric winch; and the size of the actual reduced gravity detected by the force sensor is fed back to the control system to realize closed-ring control. Aiming to the patient of lower limb motor dysfunction caused by central nervous system diseases including spinal injuries, brain stroke and the like, a load to lower limbs of the patient which is caused by the self-gravity of the patient and the dynamic load in the walking process can be simultaneously relieved when the reduced gravity walking training is carried out, so as to realize constant-mass gravity reduction. According to the rehabilitation conditions of the patient or the training requirements, a weight reducing device provided by the invention can conveniently adjust a gravity reducing ratio. The suspender of the weight reducing device can be moved along the gravity center of the patient in real time and is good for the rehabilitation of normal physiological gaits of the patient.

The invention discloses an electrical stimulation rehabilitation device on the basis of feedback control on angle information and electromyographic signals. The device comprises a plurality of groups of electrical stimulation channels, an electromyographic signal processing module, an angle transmission module, a controller and an electrical stimulation output module, wherein each group of electrical stimulation channels comprises a plurality of electrode plates arranged on the same muscle; the electromyographic signal processing module is used for extracting characteristic values of electromyographic signals acquired by the electrode plates; the angle transmission module is used for detecting a motion angle value of a lower limb; the controller is used for determining muscle stimulation positions and stimulation parameters in a next step according to the motion angle value of the lower limb, amending the stimulation parameters according to the characteristic values of the electromyographic signals and generating electrical stimulation pulses; the electrical stimulation output module is used for outputting the electrical stimulation pulses to the corresponding electrode plates. The invention also discloses an electrical stimulation method on the basis of the feedback control on the angle information and the electromyographic signals. According to the invention, not only is closed-loop control of electrical stimulation implemented, but also effectiveness of the stimulation on muscles is sufficiently considered, the stimulation effect is always in an optimal state, muscle fatigue is effectively reduced, and electrical stimulation rehabilitation training time is prolonged.

The invention discloses a wearable type knee joint power-assisted robot. The wearable type knee joint power-assisted robot comprises a control system part (1), flexible execution mechanisms (2 and 3), foot sole thin film pressure sensor groups (4 and 5), and the like. The wearable type knee joint power-assisted robot has the advantage that a miniature air pump is used as a pneumatic power source, the flexible execution mechanisms (2 and 3) acting on knee joints adopt the air bag boosting and torsion spring energy accumulation combined type flexible action method, the gait parameters are collected and fed back in real time by the foot sole thin film pressure sensor groups (4 and 5), the flexible execution mechanisms (2 and 3) are controlled in real time by the control system part (1) of the knee joint power-assisted robot, and the flexible torque which assists the bending and extension of the knee joints is provided according to the gait cycle in the people walking process, so that the purpose of flexible walking assisting is realized for persons with degraded lower limb exercise capacity or without lower limb exercise capacity.

A non-invasive apparatus for rehabilitating a joint, limb, and muscles of a patient recovering from surgery on the joint, includes a continuous passive motion device having at least one support member for supporting the limb, at least one hinge coupled to the at least one support member, and at least one actuator for providing reciprocating motion of the at least one support member about the at least one hinge, a plurality of electrodes transmitting at least four modalities chosen from a group consisting of functional electrical stimulation (FES), transcutaneous electrical nerve stimulation (TENS), temperature therapy stimulation, deep vein thrombosis (DVT) prophylactic stimulation, venous blood flow monitoring, and pain monitoring, and a control unit controlling the at least one actuator and the plurality of electrodes according to a coordinated sequence of the reciprocating motion and transmission of the at least four modalities.

The present invention comprises a user-friendly, soft and resilient, biomimetic (mimicking biological entities) lower limb support outfits that can be worn externally by people to improve and enhance lower limb, legs and knees performance in sports, daily dynamic activities and medical rehabilitation/physical therapy. More specifically, the present invention relates to an outfit, which allows a portion of the upper limb's quasi-static weight and dynamic weight due to impact forces to be excluded from being transmitted to the lower limb, legs, quadriceps and hamstrings muscles and knees by directly transmitting them to the ankles, footwear and/or the ground, through soft elastic columnar quasi-legs that are equipped with smart biomimetic materials such as shape memory materials and artificial muscles such as synthetic and/or ionic polymeric muscles and provide lower limb support function by buckling and bending in accordance with the dynamic maneuvering of the user. The said lower limb performance enhancing outfit is encapsulated by user-friendly fabric means for easy wear. The upper portion of the outfit can be in the form of a sports short worn by the user and encapsulating the buttocks support plates.

The invention discloses an adjustable-pose lower limb rehabilitation exerciser, comprising a lower limb exercise unit and an adjusting device; the adjusting device comprises an angle adjustment and a horizontal motion that drives the angle adjustment to move horizontally; the lower limb exercise unit is fixed to a cover plate of the angle adjustment; supports and a seat supported by the supports are arranged on two sides of the horizontal motion, controllable slide rails are arranged on the supports along the length of the horizontal motion, and the seat is arranged on the controllable slide rails through sliders. The adjustable-pose lower limb rehabilitation exerciser allows for leg movements in different trajectories under lying, sitting and standing poses, and allows for passive and active rehabilitation exercises. In active exercise, the adjustable-pose lower limb rehabilitation exerciser may be used as a rehabilitation exerciser and may also be used as a fitness instrument to build the body.

A portable, compact lower extremity exercise device, suitable for exercising feet and legs of the user while the user is sitting or standing with his/her heels on the floor or ground. The device is adapted and configured to be used where foot space is limited, such as at a desk, a work table, or in an airliner seat. The bottom of the exercise device has first and second sides, and a rocking surface between the sides and proximate the middle of the device. Foot ramps at the top of the device, are spaced from each other and angled downwardly toward the front of the device, thus downwardly toward the user. The working unit can be suspended in a frame, and the frame supported from the floor. The device is used by rocking the device back and forth under the user's feet.

The invention relates to a lower limb movement pose quick predicting system based on fusion of a plurality of sensors. The lower limb movement pose quick predicting system comprises surface myoelectricity sensors, inertial sensors, a pose responding module, a pose resolving module and an external auxiliary device, wherein the external auxiliary device is worn to the waist and the lower limbs of awearer; the surface myoelectricity sensors are used for obtaining muscle surface myoelectricity signals of the lower limbs of the wearer in a real-time manner; the inertial sensors are fixed to the external auxiliary device; the pose responding module is used for determining the motion state corresponding to the current muscle surface myoelectricity signal of the lower limbs according to the collected sequencing of each muscle surface myoelectricity signal; and the pose resolving module is used for performing short time dynamic weighting data fusion on each joint movement angle collected by the inertial sensors and the joint movement angle estimated by resolving, so that the lower limb movement posture and the position coordinates of the joints of the wearer are obtained in a real-time manner. The invention further provides a lower limb movement pose quick predicting method. Through the adoption of the lower limb movement pose quick predicting system and method disclosed by the invention, the movement pose of the lower limbs of the human body can be quickly predicted, and besides, the estimating accuracy of the continuous movement amount is improved.

The invention relates to a newly-increased technology: on the basis of a standing bed, a low-limb stepping function is added, and a patient can do a standing exercise and a low-limb stepping exercise at the same time, in particular to a vertical-standing lower-limb exercise system. The vertical-standing lower-limb exercise system comprises a standing bed base 1, a linear motor 2, a bedplate bracket 3, a bed body 4, a lightened fixing frame 5, a lightened binding band 6, a stepping base 7, a footplate 8, a footplate binding band 9, a footplate rotating chain rod 10, a T-shaped stepping drive rod 11, a thigh supporting rod 12, a thigh binding band 13 and linear drivers 14. When the left and right linear drivers 14 are mutually matched to move, the patient can walk like a physiological step state.

The invention relates to an arm type lower limb exercise rehabilitation training robot and belongs to the field of rehabilitation therapy instruments. A rotating bottom disc and a pin lock balance pedal are arranged on a fixing base respectively. One end of a mechanical arm is connected with the rotating bottom disc. The other end of the mechanical arm is connected with a human body flexible fixing connecting terminal. Three-freedom moving can be achieved. A fixing base #-shaped frame is in a trapezoid shape. In a standing exercise stage, a patient sits with the back against the mechanical arm in a wide end zone, enough training space is guaranteed for the patient, and training is carried out accurately according to healthy human body muscle force application and skeleton rehabilitation feature curve standing tracks. A narrow end is a mechanical arm mounting position. The robot has the advantages that passive, assisting and active training can be provided, the robot is suitable for different patients in various stages during rehabilitation training, the structure is simple and compact, size is small, weight is low, training efficiency is high, compared with an exoskeleton type rehabilitation training robot, lower limb constraint passive traction training is avoided, so that the patient is comfortable and free psychologically, using is convenient, and practicability is high.

The invention discloses a lower limb rehabilitation training device for lying, sitting and standing postures. The lower limb rehabilitation training device comprises a seat and a lower limb rehabilitation trainer, wherein the lower limb rehabilitation trainer comprises thigh movement mechanisms, calf movement mechanisms and foot movement mechanisms which are serially connected sequentially; the thigh movement mechanisms, the calf movement mechanisms and the foot movement mechanisms, which are identical in structure, are three-freedom-degree parallel mechanisms; a thigh supporting and fixing part is connected between each thigh movement mechanism and the corresponding calf movement mechanism; a calf supporting and fixing part is connected between each calf movement mechanism and the corresponding foot movement mechanism; and a pedaling and fixing part is connected to the front end of each foot movement mechanism. According to the lower limb rehabilitation training device disclosed by the invention, the lower limb of a user, sitting on the seat, can be bound by virtue of the various supporting and fixing parts and the lower limb rehabilitation trainer, and then lower limb exercises can be conducted comfortably by virtue of the lower limb rehabilitation trainer. The lower limb rehabilitation training device disclosed by the invention is broad in application scope; and lower limb rehabilitation training and exercises in a mode of three-dimensional spatial motions can be achieved.

The invention provides a sports rehabilitation device for exercising upper and lower limbs, which comprises a bed body, a support frame is fixed on the left side of the bed body, an upper limb training device is arranged on a support top, the upper limb training device comprises two sets of big arm support rods and two sets of small arm support rods, the two sets of the big arm support rods are connected with the support frame by a rotating mechanism, and the two sets of the large arm support rods are also connected with two sets of small support rods through the rotating mechanism; a lower limb training mechanism is arranged on the right side of the bed body, the lower limb training mechanism is fixed on a two-degree-of-freedom sliding mechanism, and the two-degree-of-freedom sliding mechanism is fixed on the bottom of the bed body. The invention provides a sports rehabilitation device for exercising upper and lower limbs, mainly used for performing upper limb lower limb exercise forcerebral infarction or post-operative bedridden patients, through rehabilitation training, the systemic blood circulation can be promoted, the residual muscle strength can be restored, and the joint mobility can be improved.

The invention discloses a multifunctional lower limb exercise device. The device comprises a base frame, a thigh support, a thigh binding band, a rotating shaft, a shank support, a shank binding band, an L-shaped pedal, a traction mechanism, a resistance mechanism, a front bearing rod and a rear bearing rod; sliding grooves are formed in the top faces of the long sides on the two sides of the base frame; the front end of the thigh support is hinged to the front end of the base frame, the rear end of the thigh support is hinged to the front end of the shank support through the rotating shaft, and pulleys which can move in the sliding grooves and can be taken out of the sliding grooves are arranged at the rear end of the shank support; the traction mechanism is arranged on the thigh support; the L-shaped pedal is arranged on the shank support, and the distance between the L-shaped pedal and the rotating shaft can be adjusted; the length adjustable front bearing rod is detachably arranged between the rotating shaft and the base frame, and the length adjustable rear bearing rod is detachably arranged between a beam at the rear end of the shank support and the base. The cost is low, use is convenient, and the exercise requirements of different patients at different rehabilitation stages can be met till lower limbs of the patients are fully recovered.

The invention relates to the field of fitness equipment, in particular to a comprehensive fitness system. The system includes a lower limb exercise system, an upper limb exercise system, a human body sign monitoring system and an indoor environment monitoring system. The lower body exercising system includes a treadmill and a running game host, and the treadmill communicates with the running game host to interact with the running game. The upper limb exercise system includes a rope traction mechanism and a roller moving device. The roller moving device is used to adjust the position of the roller to apply tension at different angles to the upper limbs; the rope traction mechanism can apply different sizes of tension to the upper limbs by changing the contraction degree of the pull rope. The human body sign monitoring system is used to collect user sign data during exercise, and control the fitness system to stop working when the exercise limit is reached. The indoor environment monitoring system is used to collect indoor air humidity and carbon dioxide concentration, and start the air switch for ventilation when the two values ​​exceed the standard.

The invention discloses a vehicle for rehabilitation training of limbs. The vehicle consists of a rear wheel actuating mechanism, a limb movement mechanism, an armchair mechanism and a vehicle frame. The rear wheel actuating mechanism comprises two rear wheels, a clutch mechanism and a chain-drive mechanism, wherein, the rear wheels are driving wheels and can be pushed by hands to move, the chain-drive mechanism consists of a driving shaft, a front chain wheel, a chain, a back chain wheel and a driven wheel, and the mechanism controls the movements of limbs through the connection or disconnection of the front chain wheel and a pin wheel. Upper limbs movement mechanism comprises an upper limb connecting rod and a sliding block and the lower limbs movement mechanism comprises a lower limb connecting rod, a sliding block and a pedal. Movements of the back wheels can be transmitted to the pedal and the sliding block to make them perform reciprocating motions, then, the limbs are driven to move, and thus, rehabilitation training for users can be realized. The height of the armchair can be adjusted for users having different heights. The invention possesses the advantages of integration of walk replacing and rehabilitation training, simple structure, convenient operation, safety and reliability.

The invention discloses lower limb rehabilitation equipment for weight reduction walking training and balance evaluation. The equipment comprises a training platform, a walking training device which is arranged on the training platform and is used for assisting the patient to do lower limb joint movement; a weight reduction supporting device which is arranged on the training platform and is used for carrying out weight reduction control and pelvic heeling control on a patient who is carrying out lower limb joint movement, a posture conversion device which is arranged at the top of the weight reduction supporting device and used for assisting a patient in achieving conversion between a sitting posture and a standing posture, a power output part which is arranged on the weight reduction supporting device and used for cooperating with the patient to conduct pelvis cooperative movement when the patient does lower limb movement, and a pelvis cooperative motion feedback device which is usedfor feeding back pelvis motion data so as to carry out balance evaluation. Pelvis movement data are obtained while a patient is assisted in conducting lower limb joint movement under weight reductioncontrol, and subsequent balance evaluation and pelvis balance movement autonomous adjustment are facilitated; and synchronous improvement of walking ability and balance ability of a patient is facilitated.

The invention relates to a semi-passive light-weight lower limb exoskeleton. The lower limb exoskeleton comprises a waist assembly and a pair of lower limb motion mechanisms arranged at the two ends of the waist assembly respectively; the waist assembly comprises a first baffle and a second baffle hinged to the first baffle, and the two lower limb motion mechanisms are connected with the first baffle and the second baffle and each comprises a hip joint driving assembly, a thigh assembly, a knee joint assembly, a shank assembly and an ankle assembly which are sequentially arranged on the corresponding waist assembly from top to bottom. Compared with the prior art, the light-weight and submissive design and the semi-passive driving mode are adopted, only the hip joints are driven actively, the knee joints and the ankle joints adopt the passive freedom degree, own energy of the human body is used fully, the gait meets that of the normal human body, the weight and size of the lower limb exoskeleton are obviously reduced, and the semi-passive light-weight lower limb exoskeleton is suitable for lower limb rehabilitation and assisted walk of people with light lower limb dysfunction.

The invention relates to a passive lower limb-exercising device, comprising: armchair (1), trace generator (9), arm (8) and flexible rope (7) connected onto the arm. The rope is connected with the patient knee, the patient's feet (2) are fixed with footwear holder (3) on the trace generator, and the said holder can drive the feet to do exercise. The device is characterized by good mobility and easiness to regulating armchair place and the inclination of trace generator.

A lower extremity exercise device for performing strengthening exercises for the calf muscles, as well as for performing static or dynamic stretching of the calf muscles. The device is preferably configured to have a generally wedge-shape positionable upon a flat surface. The wedge defines an upper, inclined platform surface for receiving the foot of a user, and has a rounded base portion having an asymmetric, gradually increasing radius to allow the user's foot to smoothly roll or rotate the device forward when pushed thereagainst. In use, the device allows for natural, relative rotations between the forefoot pivot-point and the ankle joint in the sagittal plane.

The invention discloses a postoperative auxiliary rehabilitation device for vascular surgery. The postoperative auxiliary rehabilitation device comprises a hollow base, wherein a lower limb exercisingdevice is arranged at one side of the hollow base; a back exercising device is arranged at the upper part of the hollow base; a buttock supporting device is arranged at the upper part of the hollow base and is located between the lower limb exercising device and the back exercising device. The postoperative auxiliary rehabilitation device disclosed by the invention is good for promoting the bloodcirculation of a whole body of a patient and the rehabilitation of the patient is promoted; meanwhile, kinetic energy generated in an exercising process of the patient also can be converted into electric energy and the electric energy is stored in a storage battery, so that the rehabilitation device has a power generation function and the exercising interests of the patient can be stimulated; theenthusiasm of initiative exercising of the patient is easy to improve so that the rehabilitation time is shortened; a rotary unit has a massaging effect on the back of the patient and fatigues of thepatient is easy to expel; an ergonomic design is met and the comfort can be greatly improved when the patient does rehabilitation exercise by utilizing the device.

A spinal correction device that corrects the spinal column of a user comprising a lower limb exercising part that swings the lumber region to impart a symmetrical motion to positions symmetrical with respect to the spinal column of a user facing forward with his or her trunk erect, a pair of gripping parts provided in a position in front of the lower limb exercising part and gripped by both hands of the user, and a control unit that relatively moves the gripping parts with respect to the lower limb exercising part between the position in front of the lower limb exercising part and a lateral position, with the lower limb exercising part in a driven state.

The invention relates to a whole-body recovery machine for bedridden patients. The whole-body recovery machine is characterized in that a movable chassis and two stand columns on the chassis; a guide rail is arranged between the stand columns; a sliding block connected with a lifting stand column together is installed on the guide rail; a horizontal beam is arranged at the top end of the lifting stand column; a lower limb power box capable of moving front and back is installed below the horizontal beam; cranks with foot boxes are installed at the output end of the power box and the lower limbs of a patient can be driven by the cranks to move; a bearing beam capable of moving front and back is installed above the horizontal beam; supporting rods are installed on the two sides of the extending end of the bearing beam; a front steel frame and a rear steel frame are installed on the bearing beam; lifting mechanisms are installed on the two steel frames; the body of a patient can be driven through a steel wire rope and a kicking strap to perform bridge type motion; an iron tube capable of moving front and back penetrates through the middle part of the front steel frame; an upper limb power box is arranged at the extending end of the iron tube; cranks with hand supporting boards are installed at the output end of the power box; and the upper limbs of the patient can be driven by the cranks to move. The whole-body recovery machine for the bedridden patients is reasonable in structure; positions of motion centers can be electrically adjusted; the training speed is adjustable; and early-stage whole-body recovery training of the bedridden patients is achieved.

The invention relates to a humanoid robot system based on air cylinders and pneumatic muscles. Shoulder joints, elbow joints, wrist joints, fingers, waist joints, hip joints, knee joints, ankle jointsand toes of a humanoid robot are driven to move by using the air cylinders and the pneumatic muscles, and a function of completely simulating the movement of a person is achieved. The humanoid robotsystem is composed of linear cylinders, pneumatic rotary actuators, pneumatic muscles, bevel gears, vertebrae and connecting plates, wherein the plurality of linear cylinders drive the shoulder jointsto move, and the pneumatic rotary actuators are combined with the bevel gears to drive the elbow joints; the pneumatic muscles drive the wrist joints and the fingers, the plurality of pneumatic muscles drive the waist joints and the vertebrae, and the pneumatic rotary actuators are combined with parallelogram structures to drive lower limbs to move; and the shoulder joints, the elbow joints, thewrist joints, the waist joints, the hip joints, the knee joints and the ankle joints have 6 degrees of freedom, 1 degree of freedom, 2 degrees of freedom, 1 degree of freedom, 1 degree of freedom and2 degrees of freedom respectively. The humanoid robot system based on the air cylinders and the pneumatic muscles uses the air cylinders and the pneumatic muscles for driving, has the characteristicsof compact structure, good explosion-proof performance, multiple degrees of freedom and combination of rigidity and flexibility, and can be used for teaching and demonstration.

The invention discloses a four-limb linkage type rehabilitation training device which comprises a bottom frame, a lower limb exercising module arranged on the bottom frame, an upper limb exercising module arranged in linkage with the lower limb exercising module, a balance weight module arranged at one end of the bottom frame and a seat module arranged at the other end of the bottom frame. The counterweight module can apply movement resistance to the lower limb exercising module and the upper limb exercising module so as to achieve the purpose of rehabilitation training of a patient. Accordingto the invention, the seat module can be adjusted to adapt to users with different body types; four-limb stretching rehabilitation training can be carried out by applying force to a handle and a pedal by a user; the training intensity can be adjusted according to the use amount of balancing weights; lower limbs can be pulled by upper limbs to perform follow-up training; and under the action of aretractor, a bearing plate can be prevented from rapidly descending, and accidents are avoided. Limb strength rehabilitation training, limb coordination training and lower limb passive rehabilitationtraining can be conducted on a patient, and positive rehabilitation training significance is achieved.

The invention discloses a multifunctional physical exercise device, which comprises a base plate, a fixing mechanism, a power mechanism, a massage mechanism, an upper limb exercise mechanism, a lowerlimb exercise mechanism, a transmission mechanism and an auxiliary mechanism. Left and right sides of the bottom of the base plate are symmetrically equipped with pedestals, and the bottom of the pedestal is provided with a mobile wheel; the bottom inside the base plate is provided with a mounting groove 1; the lower part inside the mounting groove 1 is provided with the fixing mechanism; the upper part inside the mounting groove 1 is provided with the massage mechanism; the right end inside the mounting groove 1 is provided with the power mechanism; and the power mechanism provides a power source for the fixing mechanism and the massage mechanism. When the device of the invention is in use, the transmission mechanism drives a fan blade in the auxiliary mechanism to rotate while a user takes exercise through the lower limb exercise mechanism. Thereby, cool wind is generated, and the power source is from the exerciser. The exercise effect is achieved, and comfort level of the exerciseris also improved during the exercise, thus killing two birds with one stone. Meanwhile, a display screen can provide music, video and the like for the exercise to watch, and then fatigue of the exerciser is relieved.

The invention discloses a unilateral lower limb exoskeleton rehabilitation device. The unilateral lower limb exoskeleton rehabilitation device comprises a shank part, a power joint part, a first motion detection unit and a controller, wherein the shank part comprises a shank supporting piece which is used for being bound on a shank of an affected side and corresponds to a shank bone; one end of the power joint part is used for being bound on a thigh of the affected side while the other end of the power joint part can be rotatably matched with the shank supporting piece, so that the power jointpart can be rotated relative to the shank supporting piece in the front and back directions; the first motion detection unit is used for detecting motion states of a lower limb of an unaffected side;and the controller is electrically connected with the power joint part and the first motion detection unit, and the controller is used for controlling the power joint part according to the motion states of the lower limb of the unaffected part so as to assist the lower limb of the affected side to coordinate with the lower limb of the unaffected part to be moved. The unilateral lower limb exoskeleton rehabilitation device disclosed by the invention has higher clinical practicability and better rehabilitation effects specially for patients suffering from cerebral stroke and hemiplegia.