782 results about "Medical rehabilitation" patented technology

Disclosed is a system and method that allows users to customize audible and visible signals, such as music or video, to maintain a pre-determined or specified pace or to achieve a new pace in repetitive motion activities such as, but not limited to, running, walking, swimming, cycling, aerobics, and the like. Other applications of the system and method include, but are not limited to, enhancing the results of medical rehabilitation programs, physical therapy, weight loss programs, disc jockey services, and industries or manufacturing settings where repetitive motion is common and where audible cues designed to help users maintain a consistent pace are useful.

A human lower extremity exoskeleton walking aid rehabilitation robot belongs to the technical field of medical rehabilitation equipment, and comprises a lower back movement module, a hip joint movement module, a knee joint movement module and an ankle joint movement module, wherein a back servo motor drives a hip joint to move through a crank and rocker mechanism and a space four-links mechanism; an electric knee push rod drives a knee joint to move; an electric ankle push rod drives an ankle joint to move. The human lower extremity exoskeleton walking aid rehabilitation robot helps a patient with lower limb paralysis to stand and walk, and the flexion and extension movement of the hip joint, the knee joint and the ankle joint is controlled by acquiring pressure signals of soles of feet, so that the patient is helped to stride; the construction and model design of the ankle joint inversion and eversion passive driving degree of freedom can help to reduce impact from the ground, is conductive to reducing the burden of a user keeping balance of the self and the exoskeleton robot in a frontal plane, is beneficial for the patient to walk comfortably, and improves the rehabilitation training efficiency.

The invention relates to motion tracking system (10) for tracking a movement of an object (P) in a three-dimensional space, the said object being composed of object portions having individual dimensions and mutual proportions and being sequentially interconnected by joints the system comprising orientation measurement units (S1, S3, . . . SN) for measuring data related to at least orientation of the object portions, wherein the orientation measurement units are arranged in positional and orientational relationships with respective object portions and having at least orientational parameters; a processor (3, 5) for receiving data from the orientation measurement units, the said processor comprising a module for deriving orientation and / or position information of the object portions using the received data and a calibration unit (7) arranged to calculate calibration values based on received data and pre-determined constraints for determining at least the mutual proportions of the object portions and orientational parameters of the orientation measurement units based on received data, pre-determined constrains and additional input data. The invention further relates to a method for tracking a movement of an object, a medical rehabilitation system and an animation system.

The invention relates to an intelligent community health care system control method based on the Internet of things. The method is mainly used for supplying intelligent medical services, such as physical check-up data report analysis, self-service emergency aid, medical rehabilitation program and the like, to community people of four kinds, namely sub-health people, old people, rehabilitation patients with severe illness and handicapped people. A system comprises an intelligent healthcare terminal device and an intelligent healthcare platform, wherein the intelligent healthcare terminal device which is used for monitoring data is connected with a terminal interface of the intelligent healthcare platform through a wireless network. Acquired real-time healthcare information is managed and analyzed through an expert system by means of data analyzing and mining, knowledge base, intelligent decision making and the like, and intelligent decisions are provided in real time in a medical expert simulated manner; alarm is realized through a call center by using a wireless communication technology, a GPS (Global Positioning System) positioning technology and a wireless data transmission technology; possible invisible diseases of individuals and potential incidence trends of people are discovered through a data warehouse by using a database management technology and a data mining technology.

The invention discloses an intelligent wheelchair based on a multimode brain-machine interface, comprising a visual stimulus interface, a brain-electrical acquisition platform, the multimode brain-machine interface, a control module and an electric wheelchair which are connected in sequence, wherein a subject expresses control intention by watching the visual stimulus interface and active movement imagery; after finishing acquisition, amplification, filtering and digitalization of brain-electrical signals, the brain-electrical acquisition platform transmits the brain-electrical signals to the multimode brain-machine interface, then preprocessing, characteristic extraction and classification are carried out on real-time brain-electrical signals, the control intention of the subject is converted into an instruction which is sent to a communication unit of the control module, and the wheelchair is controlled by a controller, so that the seven types of movement such as starting, stopping, backward movement, leftward rotation, rightward rotation, acceleration and speed reduction of the wheelchair are realized. The intelligent wheelchair can help the patients with severe paralysis to expand new information output channels for the brain, provides a new idea for the study and the practice on multiple degree of freedom of the brain-machine interface, and has various values in the aspects such as medical rehabilitation, experiment on medical physiology and the like.

The invention provides an exoskeleton-wearable rehabilitation robot in the technical field of medical rehabilitation machinery. The robot comprises a lower limb exoskeleton, a shoulder exoskeleton and an upper limb exoskeleton, wherein the lower limb exoskeleton is worn on the lower limbs and waist of a patient; the shoulder exoskeleton is worn on the shoulder of the patient and positioned above the lower limb exoskeleton; and the upper limb exoskeleton is divided into a left upper limb exoskeleton and a right upper limb exoskeleton which are worn on the upper limes of the patient and positioned under the forelimbs of the shoulder exoskeleton respectively. The exoskeleton-wearable rehabilitation robot ensures that the patient can perform rehabilitation training of upper and lower limbs atthe same time, is driven by batteries on the back of the patient, and can be used for solving the problem that the moving range of the patient is limited when carrying out rehabilitation by utilizingthe traditional rehabilitation device.

The invention relates to a sitting exoskeleton lower limb rehabilitation robot in the technical field of medical rehabilitation. The robot comprises a sitting auxiliary mechanism, a lower limb rehabilitation mechanism and an exoskeleton shield mechanism, wherein the sitting auxiliary mechanism is connected with the limb rehabilitation mechanism; and the exoskeleton shield mechanism is connected with the sitting auxiliary mechanism and the lower limb rehabilitation mechanism respectively. In the sitting exoskeleton lower limb rehabilitation robot, the sitting auxiliary mechanism, the lower limb rehabilitation mechanism and the exoskeleton shield mechanism are formed into a whole; and a motor in the lower limb rehabilitation mechanism drives the legs of a patient to train. The training modes comprise an active mode and a passive mode so as to meet the requirements on lower limb rehabilitation training of different patients. The lower limbs of the patient are bound on the exoskeleton shield mechanism in the process of training, so that the legs of the patient cannot laterally sway or turn over in the process of training and a correct training posture is kept. Meanwhile, the sitting exoskeleton lower limb rehabilitation robot is simple and compact in structure, and scientific rehabilitation training can be performed on the lower limbs of the patient by using low-cost equipment. The sitting exoskeleton lower limb rehabilitation robot is suitable for popularization.

A pressure distribution detection device is characterized in that a flexible array sensor unit (2) is sequentially connected with a signal conditioning and data acquisition unit (3) and a data display and analysis unit (4); the flexible array sensor unit (2) consists of a sensor array (1) and a Wheatstone bridge circuit; the sensor array (1) consists of sensor nodes; each sensor node is a strain disc (6); the strain discs (6) are arranged to form the sensor array (1) in a line and row manner; and each strain disc (6) constitutes the Wheatstone bridge circuit with three precision resistors with known resistance values. When ambient pressure is applied on the strain discs (6), the resistors change, and the variation information of the resistance value of the flexible array sensor unit (2) is collected through the signal conditioning and data acquisition unit (3) and is transmitted to the data display and analysis unit (4) after analog-digital conversion to be displayed and analyzed. The invention is applicable to such fields as biomechanical engineering, medical rehabilitation and rehabilitation assistant property detection.

Disclosed is a system and method that allows users to customize audible and visible signals, such as music or video, to maintain a pre-determined or specified pace or to achieve a new pace in repetitive motion activities such as, but not limited to, running, walking, swimming, cycling, aerobics, and the like. Other applications of the system and method include, but are not limited to, enhancing the results of medical rehabilitation programs, physical therapy, weight loss programs, disc jockey services, and industries or manufacturing settings where repetitive motion is common and where audible cues designed to help users maintain a consistent pace are useful. Other features of the invention include providing target- or pace-specific advertisements, and broadcasting target- or pace-specific information about athletes.

The invention provides a liner-driven type software robot with changeable rigidity, and relates to a software robot. A conventional software robot has the defects that the flexibility is improved by reducing rigidity, so that the robot is poor in rigidity and flexibility; the conventional software robot with changeable rigidity has the problem that rigidity regulating and motion coupling cannot be independently controlled. According to the liner-driven type software robot disclosed by the invention, a front blocking cavity and at least three front ropeyarn driving cavities are formed in a front driving arm, wherein the front ropeyarn driving cavities are uniformly distributed around the front blocking cavity; a connecting module is arranged between the front driving arm and a rear driving arm; each of the front ropeyarn driving cavities corresponds to a rear ropeyarn driving cavity through the connecting module, and communicates with the corresponding rear ropeyarn driving cavity; two ends of a middle blocking connecting pipe respectively communicate with the front blocking cavity and a rear blocking cavity; solid particles are stuffed in the front blocking cavity and the rear blocking cavity; an end part blocking connecting pipe communicates with the rear blocking cavity. The liner-driven type software robot disclosed by the invention is used for physical assisting medical rehabilitation, minimally invasive surgeries, and complex environmental scanning and detection operation.

The invention relates to a medical rehabilitation training instrument, in particular to an interchangeable upper limb rehabilitation robot.The interchangeable upper limb rehabilitation robot comprises a movable bottom plate, a control cabinet, a stand column lifting column, an interchangeable upper limb rehabilitation mechanism and a height-adjustable seat.The control cabinet and the stand column lifting column are fixedly arranged on the upper portion of the rear end of the movable bottom plate, the lower portion of the stand column lifting column is fixedly arranged in the control cabinet, and the interchangeable upper limb rehabilitation mechanism is movably fixed to the top end of the stand column lifting column and comprises a shoulder joint adduction and abduction mechanism, a shoulder joint flexion and extension mechanism, a shoulder joint internal rotation and outer overturn mechanism, an elbow joint flexion and extension mechanism, a forearm internal rotation and outer overturn mechanism and a wrist and finger joint extension mechanism in the connection sequence.The interchangeable upper limb rehabilitation robot is comprehensive in function, adjustable in length of assemblies and high in adaptability, and left hand and right hand interchange training can be achieved; besides, active assistance is provided, and investment of medical personnel is reduced.

The present invention relates to medical rehabilitation equipment, and s especially one kind of pneumatic polyposture exoskeleton robot for rehabilitation training of lower limbs. The pneumatic polyposture exoskeleton robot includes one pedestal, one guard rail, one suspension system, one exoskeleton training device and one computerized control system. By means of the analysis on Brunnstrom training method and the combination of physiotherapeutic treatment and operation treatment, the present invention develops robots for rehabilitation training of lower limbs in different excitation degrees and different training modes. The present invention can complete rehabilitation training of lower limbs while the patient in different postures, including sitting, standing and lying.

The invention discloses a wheelchair device which can help a patient to perform lower limb rehabilitation training, can achieve adjustment of three postures, and can be applied to the field of medical rehabilitation apparatuses. The lower limb rehabilitation wheelchair includes a flexible adjustment mechanism arranged on a chair back, a three-posture adjustment mechanism which is arranged on a base and is fixedly connected to the chair back, a leg mechanism which is fixedly connected to a three-posture adjustment frame, and a leg auxiliary support system. A step function section is driven by a push rod, and bionics steps of human body natural walking are simulated through a preset program to achieve a training effect. The leg auxiliary support system can support legs in a seat posture through coordination of bevel gears, screw rods and support plates, and can automatically move backward in a stand posture and will not affect the legs. The chair back adjustment mechanism has the function of multi-dimension automatic flexible adjustment, and can adjust the chair back according to the demands of a user. The three-posture adjustment mechanism can adjust a stand posture, a seat posture and a lie posture. The lower limb rehabilitation wheelchair can provide various posture training manners.

The invention discloses an angle and myoelectricity continuous decoding method for a human body lower limb walking joint. The movement track of a lower limb body surface optical marking point in the human body walking process is recorded through an optical movement capture system, and the movement angle of the lower limb joint is precisely calculated through the human body lower limb kinematical modeling; surface electromyogram signals of eight main muscles related to lower limb movement in the human body walking process are synchronously acquired, the activity intensity information of the signals is extracted through filtering and rectifying preprocessing, and the optical independent feature vector set describing the intensity of the surface electromyogram signals is extracted through the principle component analysis method; a nonlinear regression model from surface electromyogram signal features (independent variables) to the vertical plane joint movement angles (dependent variables) is established through the gene expression programming symbol regression analysis method, and the lower limb movement track is predicted. The method is mainly applied to design and manufacture of medical rehabilitation machines.

The invention relates to a gait classification method based on multi-sensor information fusion. The gait classification method includes the following steps that (1), plantar pressure information and ankle angle information in the walking process of multiple patients are collected; (2) according to the obtained plantar pressure information, gait stages of the patients are analyzed, the gait stages are divided into the stages of touching the ground with the feet and the stages of swinging the legs, and one gait cycle includes one stage of touching the ground with one foot and one stage of swinging the leg of the same foot of each patient; (3) a characteristic value of each gait cycle is set, so that gait characteristics of all the patients in the walking process are represented; (4), gait cluster analysis is performed on all the characteristic values of all the gait cycles of all the patients through a spectral clustering algorithm, so that the patients with the different gait characteristics are divided into different classifications. The patients are objectively classified, so that reference is provided for rehabilitation training and treatment of the patients, and a doctor can adopt different treatment modes and training intensities for the patients of the different classifications conveniently. The gait classification method can be widely used in the fields of gait analysis and medical rehabilitation.

The invention discloses a single drive linkage type lower limb power assisting exoskeleton, relates to a lower limb exoskeleton used for power assisting and walking, and aims to solve the problem that conventional exoskeleton design basically adopts a motor or hydraulic pressure to conduct independent control on a hip-joint and knee joints. The lower limb power assisting exoskeleton comprises a back module, two waist modules, two thighs and two cruses; the two waist modules are arranged at the two ends of the back module; thigh drive sprockets and a third crank shaft on the waist module are mounted on the output shaft of a universal coupling on the back module sequentially from inside to outside; each waist module corresponds to a thigh and a crus; front ends of adjusting outer side plates and adjusting inner side plates on the thighs are hinged to the central shafts of double-row chain wheels on the waist module; two lifting lugs on the cruses are hinged to the connecting shafts on the thighs. The lower limb power assisting exoskeleton is used for assisting the old and disabled, medical rehabilitation, and the like.

The invention discloses a distributed flexible pressure sensor based on an electrically active polymer. The distributed flexible pressure sensor comprises a sensor array, a switching circuit, an interface circuit and a computer. The sensor array is used for preparing a corresponding array according to the size of a measuring plane and inputting pressure. The switching circuit is used for converting a sensed capacitance value into a voltage value. The interface circuit is used for conducting line-rank scanning, filtering, amplifying and A / D conversion on an input signal and converting an analog voltage signal into a digital voltage signal capable of being read by the computer. The computer is used for collecting, analyzing, processing and displaying the data input by the interface circuit. The flexible pressure sensor can be widely applied to the fields of human health monitoring, physical training, medical rehabilitation, biomechanics and safety monitoring and the like.

The invention relates to the technical field of medical rehabilitation instruments and provides an intelligent lower limb rehabilitation training device. The main structure comprises a control module, a power driving module, a detection module, an external skeleton and a balance device. The control module is in electrical information connection with the power driving module and the detection module. The power driving module and the detection module are connected to the external skeleton in an embedded manner. The control module comprises a computer, a servo controller, a control system and a control circuit. The power driving module comprises four groups of servo motors. The detection module comprises a muscle force sensor, a pressure sensor, a speed sensor and an angle sensor. The external skeleton is formed by connecting a joint frame comprising a hip joint, knee joints and ankle joints and a skeleton comprising a chest support, straps, a weight reduction support, a waist support, a thigh bone frame, a fibula frame, an ankle frame and a foot carrier in a mode of kinetic pair. The balance device comprises a hand cart, parallel bars and crutches. The intelligent lower limb rehabilitation training device fulfils a good rehabilitation training aiding function.

The invention relates to a pneumatic-muscled bionic joint based on a universal-joint parallel mechanism. The pneumatic-muscled bionic joint mainly structurally comprises a support rod, a fixed end platform, connecting shafts, deep groove ball bearings, pneumatic muscles, universal joints, a front arm platform, internal circlips, and round nuts. When the pneumatic-muscled bionic joint operates, rubber tubes are inflated and expanded by inflating the pneumatic muscles and act on a woven net; weaving angle of lines of the woven net increases, the pneumatic muscles are driven to axially contract; the front arm platform can rotate at three rotational degrees of freedom by inflating one, two or three pneumatic muscles respectively. The pneumatic-muscled bionic joint is simpler in structure, light in weight, good in flexibility and low in cost; space for movement poses is large, the movement range is more approximate to that of human arms, compliance of a mechanism is enhanced accordingly, and pose adjustment range is enlarged. By the use of the pneumatic-muscled bionic joint in the field of medical rehabilitation, functional rehabilitation can be improved for old people or people with upper arms disabled.

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 a wireless multi-person motion data collector and a collection method. The wireless multi-person motion data collector comprises tens of data sensing nodes, six data relay nodes and a data convergence node, wherein the data sensing nodes are adhered to each motion key position of the human body; each human body motion data is periodically collected by a high-precision acceleration sensor, a magnetic sensor and a gyroscope; compressed sensing data is wirelessly transmitted to the data relay nodes; the data relay nodes are in charge of integrating data and transmitting the data to the data convergence node; the data convergence node is in wired connection with six data relay nodes; and the data is periodically uploaded to a computer. According to the invention, the motion data of 2-4 people can be simultaneously and wirelessly collected, and the invention has the characteristics of high precision, high data rate and low power consumption and is widely suitable for occasions, such as virtual man-machine interaction, virtual games and limb medical rehabilitation.

The invention relates to the technical field of medical rehabilitation instruments and specifically to an intelligent upper limb rehabilitation training device. The main structure comprises a controller, a detection module, a power driving device and a training device mechanism. The intelligent upper limb rehabilitation training device formed through the matching of the parts is suitable for rehabilitation training / training aiding of patients suffering from upper limb dyskinesia caused by hemiplegia and / or other factors, is especially suitable for the patients suffering from functional disorder of upper limbs, and can provide passive, active and / or resisting training according to the requirements of different patients and achieve an effect of targeted rehabilitation. During use, the device can guarantee accurate location and be attached to each joint of the upper limbs, thereby preventing the tissue damage and muscle strain caused by wrong practices. The intelligent upper limb rehabilitation training device is simple in structure, small in size, light in mass, convenient to use, good in training effect, high in training accuracy, low in manufacture cost and wide in application range.

The invention discloses a seven-freedom-degree upper limb rehabilitation robot based on combination drive, and relates to the technical field of medical rehabilitation. The rehabilitation robot comprises three modules, i.e., a shoulder joint medial rotation / lateral rotation movement module, a shoulder joint extension / flexion and adduction / abduction and elbow joint extension / flexion and pronation / supination module and a wrist joint radial side flexion / ulnar side flexion and dorsal flexion / palmer flexion movement module, and the rehabilitation robot can achieve movement of seven freedom degrees. Under the coordination of the seven freedom degrees, the robot can simulate and achieve all types of movement of the upper limbs of a human body; the seven freedom degrees can singly achieve independent movement of each joint and also can achieve spatial motion through linkage motion of all the joints. The rehabilitation robot is designed to be more suitable for the structure of the human body, and the movement process of the rehabilitation robot is closer to the movement rule of human arms; a wrist joint part of the rehabilitation robot is driven by a steel wire rope, and a drive motor is moved backwards to be installed on a shoulder joint cantilever horizontal plate; thus, the weight of the wrist joint part is reduced, and the wrist joint part is more convenient to control and simpler and more compact in structure.

The invention discloses a multi-stage energy-storage assistant exoskeleton, and belongs to the field of medical rehabilitation apparatuses. The assistant exoskeleton comprises a calf supporting structure, a spring energy-storage assisting structure and a leg control switch structure, wherein a calf supporting plate piece on the calf supporting structure is connected to a foot bottom supporting plate piece by virtue of a foot movable shaft; and by setting the calf supporting structure, people can wear the assistant exoskeleton conveniently and simply. The spring energy-storage assisting structure comprises a supporting panel, a gear conveying device and a spring energy-storage device; the gear conveying device comprises a rack plate and a gear; the spring energy-storage device is arranged below the rack plate, and the spring energy-storage device comprises a spring sleeve, a spring which is arranged in the spring sleeve and a piston part which is arranged at the upper part of the spring sleeve; the foot control switch structure comprises a foot supporting panel, a rubber slot and a spring switch; and the spring switch is fixed to the foot supporting panel. The multi-stage energy-storage assistant exoskeleton is simple in structure, simple and convenient to wear and is capable of assisting a leg in normal walking; the problem that energy is stored without bouncing when a user takes a step and the energy is released for assisting when the user moves forwards is solved.

The invention relates to the field of medical rehabilitation instruments, in particular to a limb rehabilitation training device, comprising a driven assembly, a bedstead including a bed surface, a motor arranged on the bedstead below the bed surface, a retarding mechanism, a driving shaft, a driving gear and a first driven gear, wherein the motor is connected with the input shaft of the retarding mechanism; the driving shaft and a driven shaft are supported by the bedstead; the output shaft of the retarding mechanism is connected with the driving shaft; the driving gear can be movably connected with the driving shaft in axial direction; the driven gear is connected with the driven shaft; the driving gear is engaged with the driven gear; the driven gear is in drive connection with the driven assembly by the driven shaft connected with the driven gear; the driven assembly comprises a driven shaft, a crank, a slider, a connection rod, a thigh rod and a shank rod; the crank is connected with the driven shaft; the bed surface is provided with a sliding chute; and the slider is connected into the sliding chute in a sliding manner. The limb rehabilitation training device can be used forperforming the limb rehabilitation training instead of manual work, so that the load of caregivers is greatly reduced.

The invention discloses an intelligent brain-computer interface wheelchair based on multi-mode hierarchical control. The intelligent brain-computer interface wheelchair comprises an electroencephalogram signal collection module, an electroencephalogram signal processing module, a motion control module and an electronically powered wheelchair. From the aspect of multi-mode hierarchical control, electroencephalogram signals caused by motion imagery conceptual work for expressing control intentions are collected, imagery right-left hands for reflecting human motion control wishes and eye opening and closing for reflecting selective control behaviors are combined, and thus the information transmission rate of a control system and the reliability of control information are improved. The electroencephalogram signals after amplification and filter are input to the signal processing module for conducting denoising, feature extraction and classification, the motion wishes of an operator are sent to the control module through an order, and therefore the motion such as going forward, turning left, turning right, drawing back, stopping, accelerating and decelerating of the electrically powered wheelchair can be achieved. The intelligent brain-computer interface wheelchair can meet the need for actual control operation of the wheelchair, can control the speed of the wheelchair, and has great value in the aspects like medical rehabilitation training and the disabled service.

Provided is a lower limb assisting outer bone based on gravity balance. Two waists are symmetrically arranged on the two sides of a back, waist plates are fixedly connected with the back through connecting elements, upper thigh plates are hinged to the waist plates through hip joint shafts, shank plates are hinged to lower thigh plates through knee joint shafts, upper joint bearings are hinged to waist lower plates, connecting rods are hinged to the knee joint shafts, the upper end and the lower end of each upper thigh plate are each provided with a thigh binding buckle, the upper end and the lower end of each shank plate are each provided with a shank binding buckle, one ends of first steel wire ropes are arranged on the inner sides of waist upper plates and fixedly connected with the waist upper plates, the other ends of the first steel wire ropes are pulled out of first small holes of first steel wire fixing plates, wound around thigh pulley blocks and then fixedly connected with thigh connecting wheels, one ends of second steel wire ropes are arranged on the inner sides of shanks and fixedly connected with the connecting rods, and the other ends of the second steel wire ropes are pulled out of second small holes of second steel wire fixing plates, wound around shank pulley blocks and then fixedly connected with shank connecting wheels. The lower limb assisting outer bone is used for helping the aged and physically-challenged persons and used for medical rehabilitation and the like.