CN103110499A - Wrist joint rehabilitation training device - Google Patents
Wrist joint rehabilitation training device Download PDFInfo
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- CN103110499A CN103110499A CN2012105007239A CN201210500723A CN103110499A CN 103110499 A CN103110499 A CN 103110499A CN 2012105007239 A CN2012105007239 A CN 2012105007239A CN 201210500723 A CN201210500723 A CN 201210500723A CN 103110499 A CN103110499 A CN 103110499A
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- wrist
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- angle sensor
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Abstract
The invention relates to a wrist joint rehabilitation training device which comprises two parts, namely, a rehabilitation training executive device part and a mirror image autonomous input device part. The rehabilitation training executive device part comprises a base seat, a forearm sliding chute, a forearm sliding block, a forearm height adjusting rod, a forearm supporting plate, a wrist rotating sliding rail, a wrist rotating sliding block, a wrist rotating guiding wheel, a bracket, a wrist rotating angle sensor, a wrist rotating motor, a pull rope, a wrist rotating rod, a wrist swing rod, a wrist swing angle sensor, a wrist swing motor, a wrist deflection rod, a wrist deflection sensor and a wrist deflection motor. The mirror image autonomous input device part comprises no motor, and the other devices of the mirror image autonomous input device part are symmetrical with those of the rehabilitation training executive device part. The wrist joint rehabilitation training device has three freedom degrees of rotation, swing and deflection, can achieve all the motions of a wrist joint and the rehabilitation training of composite motions through wearing for one time, and enables a rehabilitation therapist to control the wrist of a patient to carry out rehabilitation training conveniently through the mirror image autonomous input device part.
Description
Technical field
The present invention relates to medical rehabilitation technique with the apparatus field, particularly relate to a kind of wrist joint rehabilitation training device.
Background technology
At present, the nursing pay attention to day by day of medical domain to the paralysis that causes due to traffic accident, apoplexy and other diseases or limb activity imbalance.Traditional rehabilitation nursing refers to that patient under medical personnel's guidance and help, does the simple bending stretching, thereby recovers gradually the mobility of limbs.Yet this mode not only expends nursing staff's energy and muscle power in a large number, and meets accident unavoidably in motor process.In recent years, the Multifunctional health restored device of designing for recovering the limb motion ability emerges in an endless stream, and this has alleviated the nurse burden of medical personnel and families of patients to a certain extent, but therapeutic effect is unsatisfactory.The current device for rehabilitation of selling on the market, generally carry out athletic rehabilitation for extremity large joints, be difficult to make carpal joint to obtain sufficient rehabilitation campaign, and only carpal joint device for rehabilitations, or the rehabilitation that can realize action is single, need to change different accessories, the multi-pass operation debugging could realize different rehabilitation actions, rehabilitation course is too bothered, in addition, this type of convalescence device is too complicated in the setting of rehabilitation action, safety is low, and the efficient of autonomous rehabilitation is lower.Limitation in this feature operation has had a strong impact on rehabilitation efficacy, even affects rehabilitation progress adversely and causes incalculable damage.In this case, develop a kind of autonomous device for healing and training that to realize multiple wrist recovery action of once dressing, become the task of top priority.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of wrist joint rehabilitation training device, can conveniently realize carpal all rehabilitation actions.
The technical solution adopted for the present invention to solve the technical problems is: a kind of wrist joint rehabilitation training device is provided, comprise rehabilitation training actuating unit part and the autonomous input equipment part of mirror image, the autonomous importation of described mirror image and rehabilitation training actuating unit partly are the mirror image symmetry; Described rehabilitation training actuating unit partly comprises L shaped base, and the horizontal plate of described L shaped base is provided with the forearm chute vertical with the vertical plate of L shaped base; Being provided with in described forearm chute can be along the forearm slide block of forearm chute slip; Described forearm slide block is connected with arm-supporting splint; The outside of the vertical plate of described L shaped base is provided with the wrist rotation slide rail of circular arc; Described wrist rotation slide rail both sides are equipped with the wrist rotation guide wheel with the wrist angular sensor; Being equipped with on described wrist rotation slide rail can be along the wrist rotary slider of wrist rotation slide rail slip; One end of described wrist rotary slider is connected with stay cord, and the other end of stay cord is connected with the other end of wrist rotary slider through passing wrist rotation guide wheel; Described wrist rotary slider is connected with an end of wrist swingle, and the other end of described wrist swingle and wrist swing arm are articulated and connected; Described wrist swing arm can rotate at horizontal plane around the pin joint of wrist swingle and wrist swing arm; The pin joint place of described wrist swingle and wrist swing arm is provided with and is with handled wrist pendulum angle sensor; Described wrist swing arm and wrist deflecting bar are articulated and connected, and described wrist deflecting bar can rotate on the vertical vertical plane of vertical plate around the pin joint of wrist swing arm and wrist deflecting bar; The pin joint place of described wrist swing arm and wrist deflecting bar is provided with wrist deflection angle sensor; The wrist angular sensor of the autonomous importation of described mirror image, wrist pendulum angle sensor and wrist deflection angle sensor are sent to the data that record wrist angular sensor, wrist pendulum angle sensor and the wrist deflection angle sensor of described rehabilitation training actuating unit part; Described rehabilitation training actuating unit part also comprises the wrist electric rotating machine that is connected with the wrist angular sensor, the wrist oscillating motor that is connected with wrist pendulum angle sensor and the wrist deflection motor that is connected with wrist deflection angle sensor.
Described forearm slide block is connected with arm-supporting splint by the forearm height regulating rod.
Described wrist electric rotating machine is arranged on the carriage in the vertical plate outside that is fixed on L shaped base.
Described stay cord is exposed to outer part and is provided with the stay cord protective sleeve.
Can be provided with slot on described wrist swing arm; Described handle is arranged in slot, and can slide along slot.
Described arm-supporting splint external application flexible material.
Beneficial effect
owing to having adopted above-mentioned technical scheme, the present invention compared with prior art, have following advantage and good effect: the present invention comprises rotation by employing, swing, the Three Degree Of Freedom design of deflection, can once dress realize carpal joint comprise the back of the body stretch, palmar flexion, chi is inclined to one side, oar is inclined to one side, the rehabilitation training of rotation everything and the motion of above-mentioned motion synthesis, in addition by the autonomous input equipment part of mirror image, can facilitate rehabilitation teacher to control patient's wrist and carry out different amplitudes, speed, the rehabilitation training of number of times, can realize that equally also the control of patient health wrist needs the rehabilitation wrist carry out autonomous rehabilitation training.Simplicity of design of the present invention, dexterity, multiple degrees of freedom rehabilitation have reduced rehabilitation's teacher labor intensity, have strengthened the autonomy of Rehabilitation, have improved rehabilitation efficient, can further realize the family oriented of armarium and the simplification of operation thereof by application of the present invention.
Description of drawings
Fig. 1 is rehabilitation training actuating unit part schematic diagram in the present invention;
Fig. 2 is the autonomous input equipment part of mirror image schematic diagram in the present invention;
Fig. 3 is the rear portion partial schematic diagram of rehabilitation training actuating unit part in the present invention;
Fig. 4 is the anterior partial schematic diagram of rehabilitation training actuating unit part in the present invention;
Fig. 5 is the middle part partial schematic diagram of rehabilitation training actuating unit part in the present invention;
Fig. 6 is rotary freedom schematic diagram of the present invention;
Fig. 7 is swing degree of freedom schematic diagram of the present invention;
Fig. 8 is deflection degree of freedom schematic diagram of the present invention.
The specific embodiment
Below in conjunction with specific embodiment, further set forth the present invention.Should be understood that these embodiment only to be used for explanation the present invention and be not used in and limit the scope of the invention.Should be understood that in addition those skilled in the art can make various changes or modifications the present invention after the content of having read the present invention's instruction, these equivalent form of values fall within the application's appended claims limited range equally.
Embodiments of the present invention relate to a kind of wrist joint rehabilitation training device, as depicted in figs. 1 and 2, comprise rehabilitation training actuating unit part and the autonomous input equipment part of mirror image, and the autonomous importation of described mirror image and rehabilitation training actuating unit partly are the mirror image symmetry; Described rehabilitation training actuating unit partly comprises L shaped base 1, and the horizontal plate of described L shaped base 1 is provided with the forearm chute 2 vertical with the vertical plate of L shaped base 1; Being provided with in described forearm chute 2 can be along the forearm slide block 3 of forearm chute 2 slips; Described forearm slide block 3 is connected with arm-supporting splint 6; The outside of the vertical plate of described L shaped base 1 is provided with the wrist rotation slide rail 7 of circular arc; Described wrist rotation slide rail 7 both sides are equipped with the wrist rotation guide wheel 9 with wrist angular sensor 11; Being equipped with on described wrist rotation slide rail 9 can be along the wrist rotary slider 8 of wrist rotation slide rail 7 slips; One end of described wrist rotary slider 8 is connected with stay cord 13, and the other end of stay cord 13 is connected with the other end of wrist rotary slider 8 through passing wrist rotation guide wheel 9; Described wrist rotary slider 8 is connected with an end of wrist swingle 15, and the other end of described wrist swingle 15 and wrist swing arm 16 are articulated and connected; Described wrist swing arm 16 can rotate at horizontal plane around the pin joint of wrist swingle 15 with wrist swing arm 16; The pin joint place of described wrist swingle 15 and wrist swing arm 16 is provided with and is with handled wrist pendulum angle sensor 18; Described wrist swing arm 16 is articulated and connected with wrist deflecting bar 19, and described wrist deflecting bar 19 can rotate on the vertical vertical plane of vertical plate around the pin joint of wrist swing arm 16 and wrist deflecting bar 19; The pin joint place of described wrist swing arm 16 and wrist deflecting bar 19 is provided with wrist deflection angle sensor 20; The wrist angular sensor of the autonomous importation of described mirror image, wrist pendulum angle sensor and wrist deflection angle sensor are sent to the data that record wrist angular sensor, wrist pendulum angle sensor and the wrist deflection angle sensor of described rehabilitation training actuating unit part; Described rehabilitation training actuating unit part also comprises the wrist electric rotating machine 12 that is connected with wrist angular sensor 11, the wrist oscillating motor 17 that is connected with wrist pendulum angle sensor 18 and the wrist deflection motor 21 that is connected with wrist deflection angle sensor 20.Wherein, described forearm slide block is connected with arm-supporting splint by the forearm height regulating rod.Described wrist electric rotating machine is arranged on the carriage in the vertical plate outside that is fixed on L shaped base.Described stay cord is exposed to outer part and is provided with the stay cord protective sleeve.Can be provided with slot on described wrist swing arm; Described handle is arranged in slot, and can slide along slot.Described arm-supporting splint external application flexible material is such as elastomeric material etc.
As shown in Figure 3, before the beginning rehabilitation, use rehabilitation training actuating unit part, need the wrist place forearm of rehabilitation as on arm-supporting splint 6 patient, by regulating forearm height regulating rod 5, forearm is adjusted to the forearm centrage roughly overlaps with wrist rotation slide rail 7 centrages, can by the lock-screw 4 at locking forearm height regulating rod 5 two ends, the forearm height be fixed after regulating.By regulating forearm slide block 3 in the position of forearm chute 2, regulate the front and back position of forearm, so that carpal joint is roughly with the dead in line of wrist swingle 15 and the 16 hinged formation of wrist swing arm and make arm-supporting splint 6 centers be placed in the forearm center.
As shown in Figure 4, regulate handle 22 position in wrist deflecting bar 19 slots, make the patient need rehabilitation wrist one side hand to grip handle 22, can handle 22 positions be fixed by the lock-screw 4 on lock handle 22.
After above-mentioned forearm and hand position regulated, available elastic band fixed forearm and hand bondage.
The autonomous input equipment part of mirror image can be dressed by rehabilitation teacher, and its wearing mode is identical with rehabilitation training actuating unit part.
Beginning is during rehabilitation, makes exercises by rehabilitation teacher by the wrist of oneself and drives the patient and need the rehabilitation wrist to do rehabilitation exercise.When rehabilitation's teacher wrist rotates, wrist angular sensor on the autonomous input equipment part of mirror image is measured the rotational angle of wrist rotation guide wheel, and angle signal is transported in rehabilitation training actuating unit part, as shown in Figure 5, make wrist electric rotating machine 12 turn over identical mirror image angle under the feedback effect of wrist angular sensor 11, thereby wrist electric rotating machine 12 drives wrist rotation guide wheel 9, wrist rotation guide wheel 9 drives stay cord 13, stay cord 13 drives wrist rotary slider 8, completes the rehabilitation training of wrist spinning movement.
Other rehabilitation actions of wrist realize that principle is identical with above-mentioned wrist spinning movement, does not repeat them here.
As shown in Figure 6, in figure, arrow represents the rotary freedom of rehabilitation training actuating unit part, can realize the spinning movement of wrist.
As shown in Figure 7, in figure, arrow represents the swing degree of freedom of rehabilitation training actuating unit part, can realize that the back of the body of wrist is stretched, the palmar flexion action.
As shown in Figure 8, in figure, arrow represents the deflection degree of freedom of rehabilitation training actuating unit part, can realize that the chi of wrist is inclined to one side, oar moves partially.
After rehabilitation teacher finishes a cover rehabilitation action, can then set suitable rehabilitation number of times according to patient's wrist situation by control sequence with the rehabilitation action record, speed, making needs the rehabilitation wrist to carry out repeatedly rehabilitation training.The autonomous input equipment part of above-mentioned image also can be dressed by patient health one side upper limb, and rehabilitation training is completed in autonomous operation.
Be not difficult to find, the present invention comprises the Three Degree Of Freedom design of rotation, swing, deflection by employing, can once dress and realize that carpal joint comprises that the back of the body is stretched, palmar flexion, chi is inclined to one side, oar is inclined to one side, rotation everything and above-mentioned motion synthesis move rehabilitation training, in addition by the autonomous input equipment part of mirror image, can facilitate rehabilitation teacher to control the rehabilitation training that patient's wrist carries out different amplitudes, speed, number of times, can realize that equally also the control of patient health wrist needs the rehabilitation wrist carry out autonomous rehabilitation training.Simplicity of design of the present invention, dexterity, multiple degrees of freedom rehabilitation have reduced rehabilitation's teacher labor intensity, have strengthened the autonomy of Rehabilitation, have improved rehabilitation efficient, can further realize the family oriented of armarium and the simplification of operation thereof by application of the present invention.
Claims (6)
1. a wrist joint rehabilitation training device, comprise rehabilitation training actuating unit part and the autonomous input equipment part of mirror image, it is characterized in that, the autonomous importation of described mirror image and rehabilitation training actuating unit partly are the mirror image symmetry; Described rehabilitation training actuating unit partly comprises L shaped base (1), and the horizontal plate of described L shaped base (1) is provided with the forearm chute (2) vertical with the vertical plate of L shaped base (1); Being provided with in described forearm chute (2) can be along the forearm slide block (3) of forearm chute (2) slip; Described forearm slide block (3) is connected with arm-supporting splint (6); The outside of the vertical plate of described L shaped base (1) is provided with the wrist rotation slide rail (7) of circular arc; Described wrist rotation slide rail (7) both sides are equipped with the wrist rotation guide wheel (9) with wrist angular sensor (11); Being equipped with on described wrist rotation slide rail (9) can be along the wrist rotary slider (8) of wrist rotation slide rail (7) slip; One end of described wrist rotary slider (8) is connected with stay cord (13), and the other end of stay cord (13) is connected with the other end of wrist rotary slider (8) through passing wrist rotation guide wheel (9); Described wrist rotary slider (8) is connected with an end of wrist swingle (15), and the other end of described wrist swingle (15) and wrist swing arm (16) are articulated and connected; Described wrist swing arm (16) can rotate at horizontal plane around the pin joint of wrist swingle (15) with wrist swing arm (16); The pin joint place of described wrist swingle (15) and wrist swing arm (16) is provided with and is with handled wrist pendulum angle sensor (18); Described wrist swing arm (16) and wrist deflecting bar (19) are articulated and connected, and described wrist deflecting bar (19) can rotate on the vertical vertical plane of vertical plate around the pin joint of wrist swing arm (16) and wrist deflecting bar (19); The pin joint place of described wrist swing arm (16) and wrist deflecting bar (19) is provided with wrist deflection angle sensor (20); The wrist angular sensor of the autonomous importation of described mirror image, wrist pendulum angle sensor and wrist deflection angle sensor are sent to the data that record wrist angular sensor, wrist pendulum angle sensor and the wrist deflection angle sensor of described rehabilitation training actuating unit part; Described rehabilitation training actuating unit part also comprises the wrist electric rotating machine (12) that is connected with wrist angular sensor (11), the wrist oscillating motor (17) that is connected with wrist pendulum angle sensor (18) and the wrist deflection motor (21) that is connected with wrist deflection angle sensor (20).
2. wrist joint rehabilitation training device according to claim 1, is characterized in that, described forearm slide block (3) is connected with arm-supporting splint by the forearm height regulating rod.
3. wrist joint rehabilitation training device according to claim 1, is characterized in that, described wrist electric rotating machine (12) is arranged on the carriage (10) in the vertical plate outside that is fixed on L shaped base (1).
4. wrist joint rehabilitation training device according to claim 1, is characterized in that, described stay cord (13) is exposed to outer part and is provided with stay cord protective sleeve (14).
5. wrist joint rehabilitation training device according to claim 1, is characterized in that, can be provided with slot on described wrist swing arm (16); Described handle (22) is arranged in slot, and can slide along slot.
6. wrist joint rehabilitation training device according to claim 1, is characterized in that, described arm-supporting splint (6) external application flexible material.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012105007239A CN103110499A (en) | 2012-11-29 | 2012-11-29 | Wrist joint rehabilitation training device |
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| CN2012105007239A CN103110499A (en) | 2012-11-29 | 2012-11-29 | Wrist joint rehabilitation training device |
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| CN2012105007239A Pending CN103110499A (en) | 2012-11-29 | 2012-11-29 | Wrist joint rehabilitation training device |
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| CN103263337A (en) * | 2013-05-31 | 2013-08-28 | 四川旭康医疗电器有限公司 | Joint rehabilitation training system based on remote control and implementing method thereof |
| CN104382723A (en) * | 2014-11-24 | 2015-03-04 | 江苏大学 | Wrist joint rehabilitation robot |
| CN104666050A (en) * | 2015-02-02 | 2015-06-03 | 江苏大学 | Cantilever gravity support device of upper limb rehabilitation robot |
| CN104784890A (en) * | 2015-04-30 | 2015-07-22 | 湖南中医药大学 | Wrist joint operation training auxiliary device |
| CN105310863A (en) * | 2015-07-26 | 2016-02-10 | 广东铭凯医疗机器人有限公司 | Finger and wrist joint rehabilitation training device |
| CN105520820A (en) * | 2016-01-11 | 2016-04-27 | 上海交通大学 | Three-freedom-degree wrist function rehabilitation robot |
| CN106361539A (en) * | 2016-09-28 | 2017-02-01 | 中国科学院自动化研究所 | Three-degree-of-freedom wrist joint rehabilitation robot and system thereof |
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| CN109276410A (en) * | 2018-10-17 | 2019-01-29 | 苏州帝维达生物科技有限公司 | A kind of multivariant wrist rehabilitation institution |
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| CN103263337A (en) * | 2013-05-31 | 2013-08-28 | 四川旭康医疗电器有限公司 | Joint rehabilitation training system based on remote control and implementing method thereof |
| CN104382723A (en) * | 2014-11-24 | 2015-03-04 | 江苏大学 | Wrist joint rehabilitation robot |
| CN104666050A (en) * | 2015-02-02 | 2015-06-03 | 江苏大学 | Cantilever gravity support device of upper limb rehabilitation robot |
| CN104784890A (en) * | 2015-04-30 | 2015-07-22 | 湖南中医药大学 | Wrist joint operation training auxiliary device |
| CN105310863A (en) * | 2015-07-26 | 2016-02-10 | 广东铭凯医疗机器人有限公司 | Finger and wrist joint rehabilitation training device |
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| CN110269774A (en) * | 2018-03-15 | 2019-09-24 | 深圳市荣原科技有限公司 | A kind of automated calibration system of healing robot |
| CN110270062A (en) * | 2018-03-15 | 2019-09-24 | 深圳市荣原科技有限公司 | Healing robot teletherapy system and method |
| CN109009872A (en) * | 2018-08-16 | 2018-12-18 | 常州市钱璟康复股份有限公司 | A kind of upper-limbs rehabilitation training robot and its wrist joint training device |
| CN109276410A (en) * | 2018-10-17 | 2019-01-29 | 苏州帝维达生物科技有限公司 | A kind of multivariant wrist rehabilitation institution |
| CN109620632B (en) * | 2018-11-16 | 2021-10-22 | 中国科学院宁波材料技术与工程研究所 | Self-adaptive arm support device of upper limb rehabilitation robot |
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| CN109620632A (en) * | 2018-11-16 | 2019-04-16 | 中国科学院宁波材料技术与工程研究所 | The adaptive fupport arm device of upper limb rehabilitation robot |
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| CN109820691B (en) * | 2019-03-19 | 2024-04-02 | 青岛科技大学 | Wrist moving device capable of swinging and adjusting speed |
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| CN109875841A (en) * | 2019-03-25 | 2019-06-14 | 东北大学 | A kind of wrist convalescence device |
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| CN110141460A (en) * | 2019-06-05 | 2019-08-20 | 青岛科技大学 | A kind of wrist joint rotating device |
| CN110179633A (en) * | 2019-06-24 | 2019-08-30 | 深圳睿瀚医疗科技有限公司 | Upper limb integration device for healing and training |
| CN110840695A (en) * | 2019-08-06 | 2020-02-28 | 张海甄 | Rehabilitation training device |
| CN111449901A (en) * | 2020-03-29 | 2020-07-28 | 郑州大学 | Cerebral apoplexy paralysed patient rehabilitation exercise device |
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| CN112155945A (en) * | 2020-10-14 | 2021-01-01 | 河南理工大学 | Mechanical device for universal rehabilitation training of wrist joint |
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| CN113397904B (en) * | 2021-02-08 | 2022-05-03 | 长春工业大学 | Flexible parallel rope driven forearm and wrist joint rehabilitation device |
| CN113101138A (en) * | 2021-04-06 | 2021-07-13 | 上海健康医学院 | Motor direct-drive wrist training mechanism for upper limb rehabilitation robot |
| CN113975093A (en) * | 2021-11-02 | 2022-01-28 | 洛阳轴承研究所有限公司 | Wrist rotation rehabilitation device and upper limb rehabilitation exoskeleton |
| CN114469651A (en) * | 2022-02-21 | 2022-05-13 | 山东海天智能工程有限公司 | Wrist swing mechanism of hand function rehabilitation training system |
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Application publication date: 20130522 |