CN104983549A - An intelligent upper limb rehabilitation training device - Google Patents
An intelligent upper limb rehabilitation training device Download PDFInfo
- Publication number
- CN104983549A CN104983549A CN201510452637.9A CN201510452637A CN104983549A CN 104983549 A CN104983549 A CN 104983549A CN 201510452637 A CN201510452637 A CN 201510452637A CN 104983549 A CN104983549 A CN 104983549A
- Authority
- CN
- China
- Prior art keywords
- training
- training device
- intelligent
- limb
- training aids
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Abstract
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.
Description
Technical field:
The invention belongs to technical field of medical rehabilitation machinery, be specifically related to a kind of intelligent upper-limb recovery training device, the rehabilitation/supplemental training of the upper extremity exercise impaired patients that hemiplegia and/or other factors cause can be applicable to.
Background technology:
According to incompletely statistics, the patient of 70% one 80% is about had all to leave over deformity in various degree in the survivor such as syndrome caused by wind pathogen, cerebral palsy; For disabled patient particularly paralytic, the rehabilitation training for its hemiplegia position is very important and crucial medical procedure, facts have proved, comparatively early carries out rehabilitation training and can greatly reduce disabled probability.In the rehabilitation medical of hemiplegic patient, due to the impact of human lives's factor, the raising that lower limb rehabilitation generally all can acquire a certain degree, and upper limb healing is due to the inertia of people, subconsciousness etc., and reason causes disability rate to remain high, and makes patient repent forever.Experiment shows, regular functional training can promote the restructuring of nervus centralis and compensatory, recovers the extremity motor function of patient, this medical science foundation important for robot assisted rehabilitation technique provides.By the rehabilitation training that intelligent machine equipment carries out, can effectively solve Problems existing in Traditional Rehabilitation training method, not only can formulate training program for the state of an illness of different patient, and objectively can record some data of parameter in training process, be convenient to the analysis optimization adjustment therapeutic scheme of doctor by training data, and sum up the rule exploring central nervous system's rehabilitation, intelligent machine equipment can greatly reduce the working strength of paraprofessional personnel simultaneously, reduce patient's pressure at heart, improve training interest.
The assistive device that trainer for hemiparalysis tool great majority are function singleness is fixed in prior art, intelligence degree is not very high, and great majority are applicable to paralysed patient whole body or lower limb are suitable for, such as a kind of apoplexy recovery training appliance for recovery disclosed in Chinese patent 2014207753905, a kind of upper and lower limbs active passive joint device for rehabilitation disclosed in Chinese patent 201420507546.1, the equipment such as handcar formula upper and lower extremities coorinated training device in a kind of water disclosed in Chinese patent 201420474844.5, volume is large, quality weight, cannot be applicable to rehabilitation training of upper limbs separately.Comprise the paralytic upper limb training pulley that a kind of applicable muscular strength disclosed in Chinese patent 201410742188.7 is I level in addition, a kind of upper limb training auxiliary device disclosed in Chinese patent 201420422215.8, the training devicess such as a kind of upper extremity practice assist device for hemiplegia patients disclosed in Chinese patent 201310177902.8, although be the equipment being directed to upper limb training specially, but it is single all to there is training mode, the defects such as man-machine interaction difference, therefore, inventor's research design goes out a kind of intelligent upper-limb recovery training device, there is active training, passive exercise and resistance exercise three kinds of motor control patterns, and every physiologic information and the movable information of patient in training process can be recorded.
Summary of the invention:
The object of the invention is to the shortcoming overcoming prior art existence, design a kind of intelligent upper-limb recovery training device, the compound motion training of lower five degree of freedom of Three models can be carried out.
To achieve these goals, the intelligent upper-limb recovery training device agent structure of the present invention's design comprises controller, detection module, Power Drive Unit and training aids mechanism, controller ceases with detection module and power drive modular telecommunications respectively and is connected, and detection module and power drive Module-embedding formula are arranged in training aids mechanism; Controller is the computer being provided with control system, can complete the control to training aids and infomation detection process; Detection module comprises muscular strength sensor, myoelectric sensor, locus sensor and pressure transducer, can the movable information of patient and the active force of physiologic information and training aids in collect and transmit training aids use procedure, forms record simultaneously and is exported; Power Drive Unit comprises two groups of servomotors with servo drive system, respectively in order to drive ectoskeletal shoulder joint and elbow joint motion in training aids mechanism; Training aids mechanism comprises level(l)ing mechanism, height adjustment mechanism, top links, shoulder fixed mechanism, ectoskeleton, upper arm band and underarm band, ectoskeleton is formed by passing through shoulder joint, upper arm link, elbow joint, lower arm link and the hand rest that kinematic pair mode connects, one end of shoulder fixed mechanism is connected with height adjustment mechanism and level(l)ing mechanism by top links, is respectively used to the fixed position adjusting upper-limb recovery training device horizontal and vertical direction; The other end of shoulder fixed mechanism is connected with ectoskeleton in kinematic pair mode, the upper arm link in ectoskeleton and lower arm link is respectively arranged with upper arm band and underarm band, for the fixing wearing of patient's upper limb; Shoulder joint and elbow joint are respectively arranged with Power Drive Unit, and Power Drive Unit can drive training aids mechanism assisting patients upper limb to carry out passive type, active and/or resistance type rehabilitation training under the effect of controller.
Preferably, described level(l)ing mechanism is slide way type structure, can the interior slip of scope in the horizontal direction.
Preferably, described height adjustment mechanism is telescopic structure, can elongate or shorten in scope in the vertical direction.
Preferably, described upper arm link and lower arm link are the drawing and pulling type structure with locking device, can carry out length adjustment according to different patient demand.
Further, level(l)ing mechanism and altitude mixture control head cooperatively interact for adjusting fixing overall upper-limb recovery training device.
Compared with prior art, suitable especially upper extremity function sexual disorders patient uses in the present invention, can carry out passive type, active and/or resistance type training, reach specific aim rehabilitation effect according to the demand of different patient; During use can precise positioning laminating patient each joint of upper limb, avoid misplace exercise cause tissue injury and muscle sprain; This training aids structure is simple, and volume is little, and quality is light, and easy to use, training effect is good, and training precision is high, low cost of manufacture, applied range.
Accompanying drawing illustrates:
Fig. 1 is agent structure module diagram of the present invention.
Fig. 2 is the agent structure principle schematic of training aids mechanism in the present invention.
Detailed description of the invention:
Also by reference to the accompanying drawings the present invention is described further below by embodiment.
Embodiment 1:
The agent structure of the intelligent upper-limb recovery training device that the present embodiment relates to comprises controller 1, detection module 2, Power Drive Unit 3 and training aids mechanism 4, controller 1 is connected with detection module 2 and power drive module 3 electrical information respectively, and detection module 2 and power drive module 3 installation by adhering are in training aids mechanism 4; Controller 1, for being provided with the computer of control system, can complete the control to training aids and infomation detection process; Detection module 2 comprises muscular strength sensor, myoelectric sensor, locus sensor and pressure transducer, can the movable information of patient and the active force of physiologic information and training aids in collect and transmit training aids use procedure, forms record simultaneously and is exported; Power Drive Unit 3 comprises two groups of servomotors with servo drive system, respectively in order to drive the motion of shoulder joint in ectoskeleton and elbow joint; Training aids mechanism 4 comprises level(l)ing mechanism 5, height adjustment mechanism 6, top links 7, shoulder fixed mechanism 8, ectoskeleton 9, upper arm band 10 and underarm band 11, ectoskeleton 9 is formed, for supporting the upper limb of patient by passing through shoulder joint 12, upper arm link 13, elbow joint 14, lower arm link 15 and the hand rest 16 that kinematic pair mode connects; One end of shoulder fixed mechanism 8 is connected with height adjustment mechanism 6 and level(l)ing mechanism 5 by top links 7, is respectively used to the fixed position adjusting upper-limb recovery training device horizontal and vertical direction; The other end of shoulder fixed mechanism 8 is connected with ectoskeleton 9 in kinematic pair mode, wherein upper arm link 13 and lower arm link 15 is respectively arranged with upper arm band 10 and underarm band 11, for the fixing wearing of patient's upper limb; Shoulder joint 12 and elbow joint 14 are respectively arranged with Power Drive Unit 3, and Power Drive Unit 3 can drive training aids mechanism 4 assisting patients upper limb to carry out passive type, active and/or resistance type rehabilitation training under the effect of controller 1.
The level(l)ing mechanism 5 related in the present embodiment is slide way type structure, can slide in scope in the horizontal direction; Height adjustment mechanism 6 is telescopic structure, and can elongate or shorten in scope in the vertical direction, both cooperatively interact for adjusting fixing overall upper-limb recovery training device; Upper arm link 13 and lower arm link 15 are the drawing and pulling type structure with locking device, can carry out length adjustment according to different patient demand.
The training of passive type described in the present embodiment is mainly applicable to 0-2 level patient, training content specifically needs to plan according to patient, comprise simple joint training (the inside and outside rotation of shoulder joint and upper act, elbow joint is stretched, bend, and carpal joint varus, turns up) and multi-joint compound train (overall upper limb is lifted, puts down, swing etc.); Described active training is mainly applicable to 3-4 level patient, and training content is mainly assisting patients and completes related actions, improves the muscular strength of patient; Described resistance type training is mainly applicable to 4-5 level patient, the training aids active force information that training process middle controller 1 collects according to detection module 2 starts training aids with delayed form, keep active force (resistance) stable between patient and training aids, to improve the muscular strength of patient further.
Embodiment 2:
The intelligent upper-limb recovery training device usability methods related in the present embodiment is:
(1) first training aids is fixed on chair, level(l)ing mechanism 5, height adjustment mechanism 6, upper arm link 13 and lower arm link 16 is regulated according to patient's concrete condition after patient settles down, make the ectoskeleton of training aids and the upper limb alignment of patient, be fixed in training aids by upper arm band 10 and underarm band 11 by the upper limb of patient again, namely the hand rest 16 of being put into of patient completes wearing simultaneously;
(2) carry out training parameter setting and model selection by controller 1, then start training aids and can carry out corresponding rehabilitation training.
Claims (5)
1. an intelligent upper-limb recovery training device, it is characterized in that agent structure comprises controller, detection module, Power Drive Unit and training aids mechanism, controller ceases with detection module and power drive modular telecommunications respectively and is connected, and detection module and power drive Module-embedding formula are arranged in training aids mechanism; Controller is the computer being provided with control system, can complete the control to training aids and infomation detection process; Detection module comprises muscular strength sensor, myoelectric sensor, locus sensor and pressure transducer, can the movable information of patient and the active force of physiologic information and training aids in collect and transmit training aids use procedure, forms record simultaneously and is exported; Power Drive Unit comprises two groups of servomotors with servo drive system, respectively in order to drive ectoskeletal shoulder joint and elbow joint motion in training aids mechanism; Training aids mechanism comprises level(l)ing mechanism, height adjustment mechanism, top links, shoulder fixed mechanism, ectoskeleton, upper arm band and underarm band, ectoskeleton is formed by passing through shoulder joint, upper arm link, elbow joint, lower arm link and the hand rest that kinematic pair mode connects, one end of shoulder fixed mechanism is connected with height adjustment mechanism and level(l)ing mechanism by top links, is respectively used to the fixed position adjusting upper-limb recovery training device horizontal and vertical direction; The other end of shoulder fixed mechanism is connected with ectoskeleton in kinematic pair mode, the upper arm link in ectoskeleton and lower arm link is respectively arranged with upper arm band and underarm band, for the fixing wearing of patient's upper limb; Shoulder joint and elbow joint are respectively arranged with Power Drive Unit, and Power Drive Unit can drive training aids mechanism assisting patients upper limb to carry out passive type, active and/or resistance type rehabilitation training under the effect of controller.
2. intelligent upper-limb recovery training device according to claim 1, is characterized in that described level(l)ing mechanism is slide way type structure, can the interior slip of scope in the horizontal direction.
3. intelligent upper-limb recovery training device according to claim 1, is characterized in that described height adjustment mechanism is telescopic structure, can elongate or shorten in scope in the vertical direction.
4. intelligent upper-limb recovery training device according to claim 1, is characterized in that described upper arm link and lower arm link are the drawing and pulling type structure with locking device, can carry out length adjustment according to different patient demand.
5. intelligent upper-limb recovery training device according to claim 1, is characterized in that described level(l)ing mechanism and altitude mixture control head cooperatively interact for adjusting fixing overall upper-limb recovery training device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510452637.9A CN104983549A (en) | 2015-07-29 | 2015-07-29 | An intelligent upper limb rehabilitation training device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510452637.9A CN104983549A (en) | 2015-07-29 | 2015-07-29 | An intelligent upper limb rehabilitation training device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104983549A true CN104983549A (en) | 2015-10-21 |
Family
ID=54295546
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510452637.9A Pending CN104983549A (en) | 2015-07-29 | 2015-07-29 | An intelligent upper limb rehabilitation training device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104983549A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105287167A (en) * | 2015-12-03 | 2016-02-03 | 常州信息职业技术学院 | Intelligent upper limb rehabilitation training device |
| CN107693306A (en) * | 2017-11-01 | 2018-02-16 | 河南理工大学 | A kind of arm training rehabilitation multi-function robot |
| CN108144264A (en) * | 2018-02-09 | 2018-06-12 | 武汉沃森拓客科技有限公司 | Mechanical arm for rehabilitation training and healing robot |
| CN108161983A (en) * | 2018-02-09 | 2018-06-15 | 武汉沃森拓客科技有限公司 | Healing robot joint arrangement |
| CN109453014A (en) * | 2018-12-21 | 2019-03-12 | 上海市第十人民医院 | A kind of device for healing and training elbow joint |
| CN109453013A (en) * | 2018-12-21 | 2019-03-12 | 上海市第十人民医院 | A kind of medical healing and training elbow joint device |
| CN111067760A (en) * | 2019-12-31 | 2020-04-28 | 上海机器人产业技术研究院有限公司 | Upper limb rehabilitation training robot based on omnidirectional mobile platform |
| CN114652578A (en) * | 2022-03-18 | 2022-06-24 | 法罗适(上海)医疗技术有限公司 | Lower limb rehabilitation training evaluation device and rehabilitation training evaluation method |
| CN114768194A (en) * | 2022-04-02 | 2022-07-22 | 郑州大学 | Wearable rehabilitation training monitored control system |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5417643A (en) * | 1993-10-27 | 1995-05-23 | Danninger Medical Technology, Inc. | Continuous passive motion exercise device |
| CN101301250A (en) * | 2008-07-08 | 2008-11-12 | 哈尔滨工业大学 | Five-freedom degree dermaskeleton type upper limb rehabilitation robot interactive rehabilitation training control policy |
| CN101636142A (en) * | 2007-03-22 | 2010-01-27 | 国立大学法人筑波大学 | Rehabilitation supporting device |
| CN101810532A (en) * | 2010-04-28 | 2010-08-25 | 河北工业大学 | Lower limbs rehabilitation training robot |
| US20110251533A1 (en) * | 2008-12-16 | 2011-10-13 | Jungsoo Han | Wearable robotic system for rehabilitation training of the upper limbs |
| US20130060171A1 (en) * | 2008-05-09 | 2013-03-07 | National Taiwan University | Rehabilitation and training apparatus and method of controlling the same |
| KR101331071B1 (en) * | 2011-09-01 | 2013-11-19 | 주식회사 앞썬아이앤씨 | Apparatus for rehabilitation of shoulder joint and method for operating the same |
| CN203576847U (en) * | 2013-09-30 | 2014-05-07 | 冯晓明 | Portable robot for upper limb hemiplegia rehabilitation training |
| CN203829261U (en) * | 2014-04-18 | 2014-09-17 | 东北大学 | Data collecting and processing system for upper limb rehabilitation robots |
| CN104784014A (en) * | 2015-04-30 | 2015-07-22 | 安阳市翔宇医疗设备有限责任公司 | Large arm rehabilitation training device |
-
2015
- 2015-07-29 CN CN201510452637.9A patent/CN104983549A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5417643A (en) * | 1993-10-27 | 1995-05-23 | Danninger Medical Technology, Inc. | Continuous passive motion exercise device |
| CN101636142A (en) * | 2007-03-22 | 2010-01-27 | 国立大学法人筑波大学 | Rehabilitation supporting device |
| US20130060171A1 (en) * | 2008-05-09 | 2013-03-07 | National Taiwan University | Rehabilitation and training apparatus and method of controlling the same |
| CN101301250A (en) * | 2008-07-08 | 2008-11-12 | 哈尔滨工业大学 | Five-freedom degree dermaskeleton type upper limb rehabilitation robot interactive rehabilitation training control policy |
| US20110251533A1 (en) * | 2008-12-16 | 2011-10-13 | Jungsoo Han | Wearable robotic system for rehabilitation training of the upper limbs |
| CN101810532A (en) * | 2010-04-28 | 2010-08-25 | 河北工业大学 | Lower limbs rehabilitation training robot |
| KR101331071B1 (en) * | 2011-09-01 | 2013-11-19 | 주식회사 앞썬아이앤씨 | Apparatus for rehabilitation of shoulder joint and method for operating the same |
| CN203576847U (en) * | 2013-09-30 | 2014-05-07 | 冯晓明 | Portable robot for upper limb hemiplegia rehabilitation training |
| CN203829261U (en) * | 2014-04-18 | 2014-09-17 | 东北大学 | Data collecting and processing system for upper limb rehabilitation robots |
| CN104784014A (en) * | 2015-04-30 | 2015-07-22 | 安阳市翔宇医疗设备有限责任公司 | Large arm rehabilitation training device |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105287167A (en) * | 2015-12-03 | 2016-02-03 | 常州信息职业技术学院 | Intelligent upper limb rehabilitation training device |
| CN107693306A (en) * | 2017-11-01 | 2018-02-16 | 河南理工大学 | A kind of arm training rehabilitation multi-function robot |
| CN108144264A (en) * | 2018-02-09 | 2018-06-12 | 武汉沃森拓客科技有限公司 | Mechanical arm for rehabilitation training and healing robot |
| CN108161983A (en) * | 2018-02-09 | 2018-06-15 | 武汉沃森拓客科技有限公司 | Healing robot joint arrangement |
| CN108144264B (en) * | 2018-02-09 | 2023-11-14 | 武汉沃森拓客科技有限公司 | Rehabilitation training mechanical arm and rehabilitation robot |
| CN109453014A (en) * | 2018-12-21 | 2019-03-12 | 上海市第十人民医院 | A kind of device for healing and training elbow joint |
| CN109453013A (en) * | 2018-12-21 | 2019-03-12 | 上海市第十人民医院 | A kind of medical healing and training elbow joint device |
| CN111067760A (en) * | 2019-12-31 | 2020-04-28 | 上海机器人产业技术研究院有限公司 | Upper limb rehabilitation training robot based on omnidirectional mobile platform |
| CN114652578A (en) * | 2022-03-18 | 2022-06-24 | 法罗适(上海)医疗技术有限公司 | Lower limb rehabilitation training evaluation device and rehabilitation training evaluation method |
| CN114768194A (en) * | 2022-04-02 | 2022-07-22 | 郑州大学 | Wearable rehabilitation training monitored control system |
| CN114768194B (en) * | 2022-04-02 | 2023-08-11 | 郑州大学 | Wearable rehabilitation training monitoring system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104983549A (en) | An intelligent upper limb rehabilitation training device | |
| WO2021243918A1 (en) | Upper-limb function evaluation apparatus and method, and upper-limb rehabilitation training system and method | |
| TWI584801B (en) | Exoskeleton apparatus of pneumatic muscle with functions of upper limb power assist and rehabilitation training | |
| CN109124985B (en) | Individualized upper limb rehabilitation training robot system based on path planning | |
| CN110051501B (en) | Desktop type upper limb rehabilitation robot and using method thereof | |
| US8359123B2 (en) | Robotic system and training method for rehabilitation using EMG signals to provide mechanical help | |
| CN103750975B (en) | Based on exoskeleton finger recovery robot system and the method for work of brain electric control | |
| US11771613B2 (en) | Robot system for active and passive upper limb rehabilitation training based on force feedback technology | |
| CN103767856B (en) | A kind of Wearable five finger gymnastic mechanical hand | |
| CN103519966B (en) | Portable hemiplegy rehabilitation training robot for hemiplegic upper limb | |
| CN102525712B (en) | Rope-traction upper limb rehabilitation robot and control method thereof | |
| WO2014194578A1 (en) | Upper limb rehabilitation robot | |
| CN204766371U (en) | Recovered robot of both arms 6 -degree of freedom upper limbs | |
| CN106420256A (en) | Wearable flexible upper limb rehabilitation robot based on lasso driving and working method | |
| CN204814707U (en) | Intelligent upper limbs rehabilitation training device | |
| CN203524950U (en) | Reversely drivable ankle joint power-assisting device | |
| CN203576847U (en) | Portable robot for upper limb hemiplegia rehabilitation training | |
| CN203724419U (en) | Rehabilitation mechanical arm | |
| CN209464288U (en) | Personalized upper-limbs rehabilitation training robot system based on path planning | |
| CN106074071B (en) | A kind of patella ulnaris joint traction recovering robot and its traction angle adjustment mechanism | |
| CN109481226A (en) | A kind of both hands tracking mode multiple degrees of freedom software finger gymnastic robot and application method | |
| TWM526379U (en) | Air pressure and muscle driven outer skeleton apparatus with upper limb power and rehabilitation training functions | |
| CN106691780A (en) | Multi-mode hand function training apparatus | |
| CN109953867B (en) | Light-weight multi-degree-of-freedom bionic flexible exoskeleton type upper limb power-assisted robot | |
| CN111803330A (en) | Upper limb elbow joint rehabilitation device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20151021 |