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1. 发明授权

US08795139B2 Lower-limb off-axis training apparatus and system 有权
标题翻译：下肢离轴训练器和系统
公开(公告)号：US08795139B2
公开(公告)日：2014-08-05
申请号：US12650517
申请日：2009-12-30
申请人： Li-Qun Zhang , Yupeng Ren
发明人： Li-Qun Zhang , Yupeng Ren
IPC分类号： A63B24/00
CPC分类号： A63B22/0046 , A61H1/005 , A61H2201/1215 , A61H2201/1261 , A61H2201/1642 , A61H2201/1664 , A61H2201/1671 , A61H2201/5043 , A61H2201/5064 , A61H2230/60 , A63B21/0051 , A63B21/015 , A63B21/4034 , A63B22/0056 , A63B22/0605 , A63B22/0664 , A63B22/14 , A63B22/203 , A63B22/208 , A63B23/03525 , A63B23/0405 , A63B71/0054 , A63B71/0622 , A63B2022/0028 , A63B2022/0094 , A63B2022/067 , A63B2071/0636 , A63B2071/0647 , A63B2220/10 , A63B2220/16 , A63B2220/806 , A63B2230/60
摘要： This invention provides a lower-limb off-axis movement training apparatus, which is mounted on the movement part of a sagittal plane exercise machine and allows the user to perform off-axis movement training during sagittal plane functional movements. The said apparatus for the lower limb off-axis training consists of a base, an off-axis movement generating part mounted on the base, and a foot container supported by the off-axis movement generating part. The said off-axis movement generating part comprising at least one of the following two: (1) off-axis pivoting generating part, which generates the pivoting movement of the foot container; (2) off-axis sliding generating part, which generates the sliding movement of the foot container. A feedback training system including the said training apparatus is provided. While the user performs sagittal plane movements of the lower limbs, the said system provides off-axis movement training integrated with the sagittal plane movements. The invented off-axis training apparatus and system can be used to help human subjects improve off-axis and sagittal plane neuromuscular control, reduce the incidence of lower limb injuries and facilitate post-injury rehabilitation.
摘要翻译：本发明提供了一种下肢离轴运动训练装置，其安装在矢状平面运动机的运动部分上，并允许使用者在矢状面功能运动期间执行离轴运动训练。所述用于下肢离轴训练的装置由基座，安装在基座上的离轴运动产生部件和由离轴运动产生部件支撑的脚部容器组成。所述离轴运动产生部分包括以下两个中的至少一个：（1）离轴枢转产生部分，其产生足部容器的枢转运动; （2）离轴滑动产生部，其产生脚容器的滑动运动。提供了包括所述训练装置的反馈训练系统。当用户执行下肢的矢状面移动时，所述系统提供与矢状面移动相结合的离轴运动训练。本发明的离轴训练装置和系统可用于帮助人体改善离轴和矢状面神经肌肉控制，减少下肢受伤的发生率，便于伤后康复。

2. 发明授权

US08636627B2 System and method for training human subjects to improve off-axis neuromuscular control of the lower limbs 失效
标题翻译：用于训练人类受试者改善下肢离轴神经肌肉控制的系统和方法
公开(公告)号：US08636627B2
公开(公告)日：2014-01-28
申请号：US12532622
申请日：2008-03-24
申请人： Li-Qun Zhang , Hyung-Soon Park , Yupeng Ren
发明人： Li-Qun Zhang , Hyung-Soon Park , Yupeng Ren
IPC分类号： A63B24/00 , A63B5/22
CPC分类号： A63B22/14 , A61B5/1124 , A61B5/1126 , A61B5/162 , A61B5/224 , A61B5/4519 , A61B5/4528 , A63B22/001 , A63B22/0046 , A63B22/0056 , A63B22/0664 , A63B24/0003 , A63B69/0053 , A63B69/0064 , A63B2220/16 , A63B2220/30 , A63B2220/51 , A63B2230/08
摘要： Anterior cruciate ligament (ACL) is the most commonly injured knee ligament in sports-related activities, especially in pivoting sports. Considering that the knee is free to flex/extend but has much more limited motions about the off-axes (tibial rotation and valgus/varus), ACL injuries are often associated with excessive off-axis loadings. A pivoting/sliding mechanism combined with sagittal plane movement/exercise is described as a diagnostic tool to evaluate off-axis neuromechanical and anatomical risk factors of noncontact ACL injuries. The pivoting/sliding mechanism is also described as an intervention tool for off-axis training, possibly based on the diagnosis, to reduce the incidence of ACL injuries. Training outcome can also be evaluated using the pivoting/sliding mechanism. In general, the pivoting/sliding mechanism can be used with many sagittal plane exercise machines and used to improve off-axis control of the lower limbs and reduce lower limb injuries.
摘要翻译：前交叉韧带（ACL）是运动相关活动中最常见的受伤膝关节韧带，特别是枢转运动。考虑到膝盖可以自由弯曲/伸展，但对离轴（胫骨旋转和外翻/内翻）有更多的限制运动，ACL损伤通常与过度轴向负载相关联。结合矢状面运动/运动的枢转/滑动机制被描述为评估非接触ACL损伤的离轴神经机械和解剖危险因素的诊断工具。枢转/滑动机构也被描述为用于离轴训练的干预工具，可能基于诊断，以减少ACL损伤的发生率。也可以使用枢转/滑动机构来评估训练结果。一般来说，枢转/滑动机构可用于许多矢状平面运动机器，用于改善下肢的离轴控制并减少下肢受伤。

3. 发明申请

US20100145233A1 SYSTEM AND METHOD FOR TRAINING HUMAN SUBJECTS TO IMPROVE OFF-AXIS NEUROMUSCULAR CONTROL OF THE LOWER LIMBS 失效
标题翻译：用于训练人类受试者以改善下肢的离轴神经控制的系统和方法
公开(公告)号：US20100145233A1
公开(公告)日：2010-06-10
申请号：US12532622
申请日：2008-03-24
申请人： Li-Qun Zhang , Hyung-Soon Park , Yupeng Ren
发明人： Li-Qun Zhang , Hyung-Soon Park , Yupeng Ren
IPC分类号： A61B5/11 , A61B5/103 , A63B22/04 , A63B21/22 , A63B22/08
CPC分类号： A63B22/14 , A61B5/1124 , A61B5/1126 , A61B5/162 , A61B5/224 , A61B5/4519 , A61B5/4528 , A63B22/001 , A63B22/0046 , A63B22/0056 , A63B22/0664 , A63B24/0003 , A63B69/0053 , A63B69/0064 , A63B2220/16 , A63B2220/30 , A63B2220/51 , A63B2230/08
摘要： Anterior cruciate ligament (ACL) is the most commonly injured knee ligament in sports-related activities, especially in pivoting sports. Considering that the knee is free to flex/extend but has much more limited motions about the off-axis (tibia rotation and valgus/varus), ACL injuries are often associated with excessive off-axis loadings. A pivoting/sliding mechanism combined with sagittal plane movement/exercise is described as a diagnostic tool to evaluate off-axis neuromechanical and anatomical risk factors of noncontact ACL injuries. The pivoting/sliding mechanism is also described as an intervention tool for off-axis training, possibly based on the diagnosis, to reduce the incidence of ACL injuries. Training outcome can also be evaluated using the pivoting/sliding mechanism. In general, the pivoting/sliding mechanism can be used with many sagittal plane exercise machines and used to improve off-axis control of the lower limbs and reduce lower limb injuries.
摘要翻译：前交叉韧带（ACL）是运动相关活动中最常见的受伤膝关节韧带，特别是枢转运动。考虑到膝盖自由弯曲/伸展，但对离轴（胫骨旋转和外翻/内翻）有更多的限制运动，ACL损伤通常与过度的轴外负荷相关联。结合矢状面运动/运动的枢转/滑动机制被描述为评估非接触ACL损伤的离轴神经机械和解剖危险因素的诊断工具。枢转/滑动机构也被描述为用于离轴训练的干预工具，可能基于诊断，以减少ACL损伤的发生率。也可以使用枢转/滑动机构来评估训练结果。一般来说，枢转/滑动机构可用于许多矢状平面运动机器，用于改善下肢的离轴控制并减少下肢受伤。

4. 发明申请

US20100016766A1 ROBOTIC REHABILITATION APPARATUS AND METHOD 有权
标题翻译：机器人康复装置及方法
公开(公告)号：US20100016766A1
公开(公告)日：2010-01-21
申请号：US12527389
申请日：2008-02-15
申请人： Li-Qun Zhang , Hyung-Soon Park , Yupeng Ren
发明人： Li-Qun Zhang , Hyung-Soon Park , Yupeng Ren
IPC分类号： A61H1/02
CPC分类号： A61F5/0102 , A61H1/0237 , A61H1/0274 , A61H1/0281 , A61H1/0285 , A61H1/0288 , A61H2201/0192 , A61H2201/1215 , A61H2201/163 , A61H2201/1638 , A61H2201/1642 , A61H2201/1659 , A61H2201/1676 , A61H2201/5007 , A61H2201/5061
摘要： This patent describes an 8+2 degrees of freedom (DOF) intelligent rehabilitation robot capable of controlling the shoulder, elbow, wrist and fingers individually and allowing functional arm movements with accompanying trunk and scapular motions. The rehabilitation robot uses the following integrated rehabilitation approach: 1) it has unique diagnostic capabilities to determine patient-specific multiple joint and/or multiple DOF biomechanical and neuromuscular changes; 2) it stretches the stiff joints/DOFs under intelligent control to loosen up the specific stiff joints and to reduce excessive cross-coupling torques/movements between the specific joints/DOFs, which can be done based on the above diagnosis for subject-specific treatment; 3) the patients practice voluntary reaching and some functional tasks to regain/improve their motor control capability, which can be done after the stretching loosened up the stiff joints; and 4) the outcome will be evaluated quantitatively at the levels of individual joints, multiple joints/DOFs, and the whole arm.
摘要翻译：该专利描述了能够单独控制肩部，肘部，手腕和手指的8 + 2自由度（DOF）智能康复机器人，并且允许具有伴随的躯干和肩胛骨运动的功能性手臂运动。康复机器人使用以下综合康复方法：1）具有独特的诊断能力，可以确定患者特异性的多关节和/或多个DOF生物力学和神经肌肉变化; 2）它在智能控制下伸展刚性接头/ DOF，松开特定的刚性接头，并减少特定接头/自由度之间过度的交叉耦合扭矩/运动，这可以根据上述对受试者特异性治疗的诊断 ; 3）患者练习自愿到达和一些功能性任务，以恢复/提高其运动控制能力，拉伸松弛后可以完成; 和4）结果将在个体关节，多关节/自由度和整个手臂的水平进行定量评估。

5. 发明申请

US20120172176A1 Lower-Limb off-axis training apparatus and system 有权
标题翻译：下肢离轴训练器和系统
公开(公告)号：US20120172176A1
公开(公告)日：2012-07-05
申请号：US12650517
申请日：2009-12-30
申请人： Li-Qun Zhang , Yupeng Ren
发明人： Li-Qun Zhang , Yupeng Ren
IPC分类号： A63B22/06 , A63B26/00
CPC分类号： A63B22/0046 , A61H1/005 , A61H2201/1215 , A61H2201/1261 , A61H2201/1642 , A61H2201/1664 , A61H2201/1671 , A61H2201/5043 , A61H2201/5064 , A61H2230/60 , A63B21/0051 , A63B21/015 , A63B21/4034 , A63B22/0056 , A63B22/0605 , A63B22/0664 , A63B22/14 , A63B22/203 , A63B22/208 , A63B23/03525 , A63B23/0405 , A63B71/0054 , A63B71/0622 , A63B2022/0028 , A63B2022/0094 , A63B2022/067 , A63B2071/0636 , A63B2071/0647 , A63B2220/10 , A63B2220/16 , A63B2220/806 , A63B2230/60
摘要： This invention provides a lower-limb off-axis movement training apparatus, which is mounted on the movement part of a sagittal plane exercise machine and allows the user to perform off-axis movement training during sagittal plane functional movements. The said apparatus for the lower limb off-axis training consists of a base, an off-axis movement generating part mounted on the base, and a foot container supported by the off-axis movement generating part. The said off-axis movement generating part comprising at least one of the following two: (1) off-axis pivoting generating part, which generates the pivoting movement of the foot container; (2) off-axis sliding generating part, which generates the sliding movement of the foot container.A feedback training system including the said training apparatus is provided. While the user performs sagittal plane movements of the lower limbs, the said system provides off-axis movement training integrated with the sagittal plane movements. The invented off-axis training apparatus and system can be used to help human subjects improve off-axis and sagittal plane neuromuscular control, reduce the incidence of lower limb injuries and facilitate post-injury rehabilitation.
摘要翻译：本发明提供了一种下肢离轴运动训练装置，其安装在矢状平面运动机的运动部分上，并允许用户在矢状面功能运动期间执行离轴运动训练。所述用于下肢离轴训练的装置由基座，安装在基座上的离轴运动产生部件和由离轴运动产生部件支撑的脚部容器组成。所述离轴运动产生部分包括以下两个中的至少一个：（1）离轴枢转产生部分，其产生足部容器的枢转运动; （2）离轴滑动产生部，其产生脚容器的滑动运动。提供了包括所述训练装置的反馈训练系统。当用户执行下肢的矢状面移动时，所述系统提供与矢状面移动相结合的离轴运动训练。本发明的离轴训练装置和系统可用于帮助人体改善离轴和矢状面神经肌肉控制，减少下肢受伤的发生率，便于伤后康复。

6. 发明申请

US20120165158A1 Wearable and convertible passive and active movement training robot: apparatus and method 审中-公开
标题翻译：可穿戴和可转换的被动和主动运动训练机器人：装置和方法
公开(公告)号：US20120165158A1
公开(公告)日：2012-06-28
申请号：US13326317
申请日：2011-12-14
申请人： Yupeng Ren , Li-Qun Zhang
发明人： Yupeng Ren , Li-Qun Zhang
IPC分类号： A63B24/00
CPC分类号： A63B21/00178 , A61H1/024 , A61H1/0266 , A61H1/0277 , A61H1/0285 , A61H2201/1215 , A61H2201/165 , A61H2201/1676 , A61H2201/5007 , A61H2201/5046 , A61H2201/5061 , A61H2201/5069 , A61H2201/5097 , A63B21/0004 , A63B21/00181 , A63B21/0058 , A63B21/4011 , A63B21/4013 , A63B21/4015 , A63B21/4017 , A63B21/4021 , A63B24/0006 , A63B24/0075 , A63B71/0622 , A63B2071/0625 , A63B2071/0658 , A63B2220/16 , A63B2220/50 , A63B2220/54 , A63B2220/56 , A63B2220/58 , A63B2225/093
摘要： In respects of limitations and problems of motor function training devices, the present invention provides a wearable and convertible device and a method for controlling combined motor function training. This device integrates the functions of both passive stretching function in the existing CPM devices and additional active assistive training function. Without a force/torque sensor element in the device, the present passive stretching control can still be adapted to hypertonia (high muscle tone or stiffness of joints) of the limb, and the present active assistive control can still be implemented for enhancing voluntary active movement from patients. With such present method, much more applications of active assistive training are supported at substantially no additional cost. On the other hand, the safety of such stretching devices without using force/torque sensor is improved, which assists in increasing the efficiency of the device of the present invention.
摘要翻译：在运动功能训练装置的限制和问题方面，本发明提供一种可穿戴式可转换装置和一种用于控制组合式运动功能训练的方法。该器件集成了现有CPM设备中被动拉伸功能的功能和附加的主动辅助训练功能。在该装置中没有力/扭矩传感器元件的情况下，目前的被动拉伸控制仍然可以适应于肢体的高血压（关节的高肌力或刚度），并且目前的主动辅助控制仍然可以用于增强自愿主动运动来自病人。通过这种现有方法，基本上没有额外的成本支持更多的主动辅助训练的应用。另一方面，提高了不使用力/转矩传感器的这种拉伸装置的安全性，这有助于提高本发明的装置的效率。

7. 发明申请

US20100106059A1 SYSTEM AND METHOD FOR EVALUATING NEUROMUSCULAR AND JOINT PROPERTIES 审中-公开
标题翻译：用于评估神经细胞和关节特性的系统和方法
公开(公告)号：US20100106059A1
公开(公告)日：2010-04-29
申请号：US12532626
申请日：2008-03-24
申请人： Li-Qun Zhang , Hyung-Soon Park , Yupeng Ren
发明人： Li-Qun Zhang , Hyung-Soon Park , Yupeng Ren
IPC分类号： A61B5/103
CPC分类号： A61B5/22 , A61B5/4519 , A61B5/4523 , A61B5/4528 , A61B9/005
摘要： A pocket neuromuscular evaluator delivers controlled tendon taps, makes quantitative measures of the taps and the reflex responses invoked, evaluates not only the neurological reflexes but also the muscle-joint properties, analyzes the data, displays the results, and records them to provide quantitative characterizations of the neuromuscular and joint properties.
摘要翻译：口袋神经肌肉评估仪提供受控的肌腱抽头，进行抽头和反射反应的定量测量，不仅评估神经反射，而且评估肌肉关节特性，分析数据，显示结果，并记录它们以提供定量表征的神经肌肉和关节性质。

8. 发明授权

US08317730B2 Robotic rehabilitation apparatus and method 有权
标题翻译：机器人康复设备及方法
公开(公告)号：US08317730B2
公开(公告)日：2012-11-27
申请号：US12527389
申请日：2008-02-15
申请人： Li-Qun Zhang , Hyung-Soon Park , Yupeng Ren
发明人： Li-Qun Zhang , Hyung-Soon Park , Yupeng Ren
IPC分类号： A61B5/103 , A61B5/117 , A61H1/00 , A61H1/02 , A61H5/00 , A61H7/00 , A61H19/00
CPC分类号： A61F5/0102 , A61H1/0237 , A61H1/0274 , A61H1/0281 , A61H1/0285 , A61H1/0288 , A61H2201/0192 , A61H2201/1215 , A61H2201/163 , A61H2201/1638 , A61H2201/1642 , A61H2201/1659 , A61H2201/1676 , A61H2201/5007 , A61H2201/5061
摘要： This patent describes an 8+2 degrees of freedom (DOF) intelligent rehabilitation robot capable of controlling the shoulder, elbow, wrist and fingers individually and allowing functional arm movements with accompanying trunk and scapular motions. The rehabilitation robot uses the following integrated rehabilitation approach: 1) it has unique diagnostic capabilities to determine patient-specific multiple joint and/or multiple DOF biomechanical and neuromuscular changes; 2) it stretches the stiff joints/DOFs under intelligent control to loosen up the specific stiff joints and to reduce excessive cross-coupling torques/movements between the specific joints/DOFs, which can be done based on the above diagnosis for subject-specific treatment; 3) the patients practice voluntary reaching and some functional tasks to regain/improve their motor control capability, which can be done after the stretching loosened up the stiff joints; and 4) the outcome will be evaluated quantitatively at the levels of individual joints, multiple joints/DOFs, and the whole arm.
摘要翻译：该专利描述了能够单独控制肩部，肘部，手腕和手指的8 + 2自由度（DOF）智能康复机器人，并且允许具有伴随的躯干和肩胛骨运动的功能性手臂运动。康复机器人使用以下综合康复方法：1）具有独特的诊断能力，可以确定患者特异性的多关节和/或多个DOF生物力学和神经肌肉变化; 2）它在智能控制下伸展刚性接头/ DOF，松开特定的刚性接头，并减少特定接头/自由度之间过度的交叉耦合扭矩/运动，这可以根据上述对受试者特异性治疗的诊断 ; 3）患者练习自愿到达和一些功能性任务，以恢复/提高其运动控制能力，拉伸松弛后可以完成; 和4）结果将在个体关节，多关节/自由度和整个手臂的水平进行定量评估。

9. 发明授权

US07998094B1 System and method of microscopic imaging and soft tissue tension measurements 有权
标题翻译：微观成像和软组织张力测量的系统和方法
公开(公告)号：US07998094B1
公开(公告)日：2011-08-16
申请号：US12426012
申请日：2009-04-17
申请人： Li-Qun Zhang , Yi-Ning Wu , Yupeng Ren
发明人： Li-Qun Zhang , Yi-Ning Wu , Yupeng Ren
IPC分类号： A61B5/103 , A61B5/117
CPC分类号： A61B5/0059 , A61B5/4519
摘要： An apparatus and method for examining fiber tension, fiber stress, sarcomere length, etc. in muscle fibers and tension and stress in ligament or tendon tissues as well as brain or nerve fibers by applying a lifting force to lift the fiber or tissue a lifting distance, measuring the lifting force and distance and calculating the axial tension on the fiber bundle or tissue. The apparatus and method also make it possible to illuminate and view the fiber bundle or tissue to examine and characterize visually observable properties.
摘要翻译：通过施加提升力提升纤维或组织提升距离，检查肌纤维中的纤维张力，纤维应力，肌节长度等在韧带或腱组织以及脑或神经纤维中的张力和应力的装置和方法测量提升力和距离并计算纤维束或组织上的轴向张力。该装置和方法还使得可以照亮和观察纤维束或组织以检查和表征视觉可观察的性质。

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