CN106377396A - Rehabilitation training device - Google Patents
Rehabilitation training device Download PDFInfo
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- CN106377396A CN106377396A CN201611099172.4A CN201611099172A CN106377396A CN 106377396 A CN106377396 A CN 106377396A CN 201611099172 A CN201611099172 A CN 201611099172A CN 106377396 A CN106377396 A CN 106377396A
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- training
- rehabilitation
- healing
- motion
- rotary shaft
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/22—Ergometry; Measuring muscular strength or the force of a muscular blow
- A61B5/224—Measuring muscular strength
- A61B5/225—Measuring muscular strength of the fingers, e.g. by monitoring hand-grip force
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/16—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles for hands or fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
- A61H2205/067—Fingers
Abstract
The invention relates to a rehabilitation training device which comprises a device frame and a driving mechanism, wherein the driving mechanism comprises a driving motor with a motor shell and a motor output shaft; a rotating shaft, of which a rotating axis extends along back and forth direction, is assembled on the device frame in a rotatable form; a torque output structure is arranged on the rotating shaft; the motor output shaft is in driving connection with the rotating shaft; a pull pressure sensor which is used for supporting the motor shell is arranged on the device frame. The rehabilitation training device can solve the problem of unstable signal caused by brush wear under the condition of adopting a torque sensor for measuring force value in the prior art.
Description
Technical field
The present invention relates to the device for healing and training in a kind of rehabilitation mechanical.
Background technology
Apoplexy or apoplexy are a kind of sudden Cerebrovascular disorders obstacle diseases, and apoplexy typically results in componental movement
Dysfunction, paralytic especially occupies the hemiplegic patient of significant proportion, how brings white elephant to family and society
Hemiplegic patient is carried out with effective rehabilitation, recover or basic recover hemiplegic patient motion function be one long-term and difficult
Huge task.
In order to realize the recovery of motion function, it is necessary for muscle is carried out re -training, traditional rehabilitation means, main
Will be based on the singlehanded dynamic treatment of the single pair of for the treatment of physician, this rehabilitation mode, therapeutic effect is inconspicuous, and treatment cycle is long,
Not only the amount of labour of therapist is big, also expends patient's energy simultaneously, increases the burden of medical worker.
Therefore correct convalescence device and correct method of rehabilitation are most important, and I has applied for theme in June, 2016
Entitled " a kind of device for healing and training and its training stand ", the application for a patent for invention of Publication No. CN104887457, at this
A kind of method of rehabilitation of my invention and the convalescence device mating with this method of rehabilitation is disclosed, in this method of rehabilitation in bright patent
Take the lead in introducing primitive concept, according to organization of human body and movement characteristic, complicated motion, can be decomposed into several single positions,
The single degree of freedom, the rotary motion rotating around corresponding joint, are referred to as primitive this most basic unit, and this motion is named
Do elementary motions, by the training step by step to each primitive, thus recovering final motor capacity.
Convalescence device for above-mentioned method of rehabilitation includes drive mechanism and fixator, the torque output of drive mechanism
End is in transmission connection with fixator by torque transfer arrangement, and torque output and the drive path of drive mechanism are provided with
Torque sensor, fixator be sole fixed mount or palm fixed mount, during use the axis of torque transfer arrangement respectively at
The accordingly dead in line of the corresponding degree of freedom in the joint of limbs to be trained, by the mode of operation such as active and passive of drive mechanism
To realize the training to limbs.There is problems with existing this convalescence device：1st, torque sensor needs rotation to record
Data, will rotate and be less susceptible to arrange, the brush of torque sensor can wear and tear, jitter, and either photoelectricity is still in addition
The Costco Wholesale of wireless torque sensor is all higher；2nd, existing this fixator is only capable of thering is one to sole, palm etc.
The main joint of individual degree of freedom（Or it is compared with large joint）Be trained, for a finger, degree of freedom more it is not necessary that to every
Individual degree of freedom is individually trained, and needs every finger completely to be trained as a training unit, existing limbs are fixed
Frame cannot be trained to the articulations digitorum manus of finger.
Content of the invention
It is an object of the invention to provide a kind of device for healing and training, to solve to adopt torque sensor dynamometry in prior art
The problem of the jitter that value leads to because of brush wear.
To achieve these goals, the technical solution adopted in the present invention is：
Device for healing and training, including device frame and drive mechanism, drive mechanism includes the drive with motor casing and motor output shaft
Galvanic electricity machine, device frame is rotatably equipped with the rotary shaft that pivot center extends along the longitudinal direction, rotary shaft is provided with moment of torsion defeated
Go out structure, motor output shaft is in transmission connection with rotary shaft, device frame is provided with the pressure that described motor casing is supported
Sensor.
Device frame includes front riser, rear riser, and rolling assembling is on forward and backward riser, electric respectively for the rear and front end of rotary shaft
The hollow axle that machine output shaft extends along the longitudinal direction for axis, rotary shaft coaxial line be arranged in described hollow axle and with described sky
Heart axle is fixedly connected.
Described motor casing is located at the left side of described rotary shaft, and motor casing arranges in left-right direction, motor casing is fixed with
The suspension that motor casing is set up in parallel, pull pressure sensor supports described motor casing by being connected with described suspension.
Device for healing and training also includes articulations digitorum manus training institution, and articulations digitorum manus training institution includes mechanism rack, mechanism rack sets
Be equipped with guide direction arc extension guide frame, on guide frame guiding movement be equipped with for described rotary shaft on torsion
The training piece that square export structure is in transmission connection, training piece is provided with and connects knot for the finger that accordingly finger to be trained is connected
Structure.
The guide direction of guide frame is moved towards to extend along involute.
Described finger attachment structure includes fingerstall, fingerstall and the described training of the finger belly insertion for described finger to be trained
Part is connected.
Fingerstall is connected with described training piece by connecting plate, and one end of connecting plate and fingerstall are hinged and connected, connecting plate another
One end is hinged and connected with training piece.
Guide frame includes two spaced needle bearing groups, and each needle bearing group is all included along guide frame
The multiple needle bearings moving towards order arrangement, the axis of needle bearing extends along the longitudinal direction, and training piece has positioned at two
The guide section rolling guiding cooperation with corresponding needle bearing between needle bearing group.
Articulations digitorum manus training institution is located at the right side of rotary shaft, and torque output structure includes the rotation being fixedly arranged in rotary shaft
Wheel, training piece has the linkage section being fixed on described rotating wheel.
Beneficial effects of the present invention are：When being trained using this device for healing and training, the power of trainer is passed through to rotate
To motor output shaft, to motor casing, motor casing has and carries out around rotary shaft the power back action of motor output shaft axle back transfer
The trend rotating, supports the pull pressure sensor of motor casing just can accurately record this force value, the use of pressure sensing, fall
The low cost of product, the setting structure of pull pressure sensor is relatively easy simultaneously, does not exist as the brush in torque sensor
Deng easily worn part, signal stabilization.
Brief description
Fig. 1 is the structural representation of an embodiment of device for healing and training in the present invention；
Fig. 2 is the left view of Fig. 1；
Fig. 3 is the top view of Fig. 1；
The structural representation of Tu4Shi Tu1Zhong articulations digitorum manus training institution；
Fig. 5 is the cooperation schematic diagram of training band and fingerstall in Fig. 4；
Fig. 6 is the finger tip trajectory diagram of finger to be trained in the present invention；
Fig. 7 is the schematic diagram of the panoramic limit motion in recovery training method in the present invention.
Specific embodiment
The embodiment of device for healing and training is as shown in figures 1 to 6：Including drive mechanism and articulations digitorum manus training institution, drive mechanism
Including device frame and horizontally disposed motor 1, motor 1 is the reducing motor being capable of vertical output, motor bag
Include the motor casing arranged in left-right direction and motor that the axis that is assemblied on motor casing by bearing is extended along the longitudinal direction is defeated
Shaft, motor output shaft is hollow axle, device frame rotates and is provided with the rotary shaft 10 that pivot center extends along the longitudinal direction, dress
Put frame and include base plate 3 and the front portrait 4 being fixedly arranged on base plate, rear riser 13, the two ends rolling assembling of rotary shaft 10 is in forward and backward perpendicular
On plate, rotary shaft is passed through by the center of motor output shaft, and rotary shaft passes through driving key with the transmission of motor output shaft coaxial line even
Connect.In rotary shaft, coaxial line is installed with rotating wheel 12, and in the present embodiment, rotating wheel is a circular wheel, and rotating wheel 12 is by nylon material
Material is made, and device frame is additionally provided with the position limiting structure for limiting rotating wheel slewing area, and rotating wheel is provided with projection, limit
Bit architecture includes the forward and backward block positioned at the projection left and right sides, and positive stop can limit the suitable of rotating wheel with the cooperation of projection block
Hour hands rotational limitation, what the cooperation of backstop and projection block can limit rotating wheel rotates counterclockwise the limit, by position limiting structure
Cooperation with projection is thus be limited in the rotational travel of rotating wheel in certain scope.Motor casing is located at a left side for rotary shaft 10
Side, motor casing is installed with the suspension 14 being be arranged in parallel with motor casing, is provided with pull pressure sensor between suspension 14 and base plate 3
2, the upper end of pull pressure sensor 2 is hinged and connected with suspension 14, and the lower end of pull pressure sensor 2 is hinged and connected with base plate 3, suspension
Belong to relatively rotate the rotating turret that axle has rotation trend with motor casing.When not in use, pull pressure sensor is formed
One supporting leg, motor casing is supported, and front, riser forms a supporting leg, thus ensure whole drive mechanism placement steady
Qualitative.
Articulations digitorum manus training institution includes the mechanism rack 5 on the right side of rotary shaft, and mechanism rack 5 is fixedly arranged on the base plate of device frame
On, mechanism rack includes front vertical plate and the back vertical plate of time interval setting, and the upper right side of forward and backward riser is provided with arc-shaped notch 30,
There is between the upper end of forward and backward riser and rotating turret gap 31.Guide frame, the guide direction of guide frame are arranged on mechanism rack
Move towards arc along involute to extend, in the present embodiment, guide frame includes two spaced needle bearing groups, two needle rollers
Bearing group is setting up and down, the referred to as upper needle bearing group 9 of the top needle bearing group in position, and position needle bearing group on the lower is referred to as
Lower needle bearing group 8, each needle bearing group all includes the multiple needle bearings 6 moving towards order arrangement along guide frame,
The axis of needle bearing extends along the longitudinal direction, and the two ends of each needle bearing rotate respectively and are arranged on forward and backward riser.Guiding knot
On structure, guiding is equipped with training piece, and in the present invention, training piece is a bent training band being made up of nylon or plastics
11, the training band that nylon or plastics are made can bend and can transmit and draw thrust, it is possible to achieve the instruction in the both direction of finger
Practice, training band includes and the linkage section 11-1 that is fixedly linked of outer peripheral face of rotating wheel 12 and being located between two needle bearing groups
Roll the guide section 11-2 of guiding cooperation with corresponding needle bearing, linkage section can be fixed on rotation by screw or adhesive means
On wheel 12, in the present embodiment, rotating turret is also equipped be similarly used for training band with the needle bearing group in mechanism rack
The device frame needle bearing of upper end guiding.Finger attachment structure includes the fingerstall of the finger belly insertion for described finger to be trained
23, fingerstall 23 is connected with described training band 11 by connecting plate 24, and one end of connecting plate 24 is hinged and connected with fingerstall 23, connecting plate
24 other end and training band are hinged and connected.The upper right side of forward and backward riser is provided with horizontal carriage 20, and during use, palm can be placed
In horizontal carriage 20.In Fig. 4, Fig. 5, Fig. 6, item 21 represents finger, and item 22 represents finger-joint, and in Fig. 4, Fig. 5, dotted line represents
One of state.
Why the guide direction of guide frame is not that the circular arc direction of standard extends, and is because as shown in fig. 6, finger
For three sections that is to say, that the degree of freedom of complete finger is multiple degrees of freedom rather than one degree of freedom, the bending and stretching process of finger
Naturally it is the motion of a multivariant compound motion rather than a single-degree-of-freedom, in figure depicts finger and in bending or stretches
During fingertip motions track, show that the movement locus 25 of finger tip are not a regular circular arc, but one gradually opened
The guide direction of the guide frame in wire shaped, the therefore present invention is also adopted by involute direction and extends, and so more conforms to human body
Engineering, consistent with the actual motion track of finger it is ensured that training effect；Motor casing and articulations digitorum manus training institution are placed in rotation
The both sides of axle, it is possible to achieve the rational deployment in space, facilitate motor and the setting of articulations digitorum manus training institution.
, when using, by the finger tip insertion fingerstall of finger to be trained, the use of needle bearing can for this device for healing and training
To reduce the running resistance of training band, the frictional resistance of training band is negligible substantially, and the power of such finger can be accurate
The pull pressure sensor of reaction on, be beneficial to the accurate measurement of force value.Following four can be adopted to articulations digitorum manus when training
Step is tested：The first step, because patient muscle does not now also have motor capacity, that is, patient muscle be in fully relaxed or
Person is in complete state of paralysis, so people is motionless in this step, drive mechanism provides active force, and rotary shaft can rotate clockwise
Can also rotate counterclockwise, so after obtaining preliminary motion study, pull pressure sensor can be entered after having the generation of positive force
Enter second step study；Second step, people is moved together with device for healing and training, the force direction of drive mechanism and the force side of human body
To consistent, the force dynamics of drive mechanism can be gradually increased, so incremental cyclic training；3rd step, driving machine
Structure is failure to actuate, and people moves, and now human body applies static force to device for healing and training, and this power acts in rotary shaft by rotating wheel,
This power is applied on motor output shaft rotary shaft, produces counteracting force between motor output shaft and motor casing, and pressure senses
Device realizes the measurement to human body force value by recording this counteracting force, has gap, so between rotating turret and mechanism rack
Mechanism rack will not between rotating turret formed active force, thus ensureing the accurate measurement of force value, now can carry out power training and
Evaluation；4th step, people is moved together with device for healing and training, the direction of motion of device for healing and training and human motion direction phase
Instead, so with different levels gradually recovery trained step by step, be conducive to muscle.Pull pressure sensor is as a supporting leg of device frame
Structure, enriches the function of pressure tactility apparatus, simplifies the structure of device frame, and pull pressure sensor can easily record driving machine
The active force to device for healing and training for finger when structure is failure to actuate, measurement accurately, simplifies compared to structure for torque sensor, and
Cost is relatively low.
In other embodiments of the invention：When it is not very high that training precision is required, the guiding side of guide frame
To can also extend along circular arc；Certainly guide frame may not be needle bearing structure, guide barrel construction for example；Certainly
Training band can also be made up of magnetic material, now can be avoided between training band and guide frame using magnetic suspension structure
There is frictional force, fingerstall can also be directly hinged and connected with training band；Certainly finger attachment structure may not be fingerstall structure, than
As said, a connecting hole is opened up on training band, the finger tip of finger passes through this connecting hole to realize the transmission phase of finger and training piece
Connect, or finger can also be tied up on training band with rope；Training band can also be by other bent flexible material such as cloth
Make, when training band is made up of cloth, this device can only realize the one direction training of finger；Certainly training piece can also be without being band
Shape structure, such as, training piece be only one can in guide frame guiding movement movable block；Rotating wheel can also adopt
Sector structure, now forward and backward block can limit the slewing area of rotating wheel by stopping cooperation with the both sides side bumper of rotating wheel；
Suspension can not also set, and now pull pressure sensor can be directly arranged between motor casing and base；The motor of motor
Output shaft can also be solid construction, and now rotary shaft can be in transmission connection with motor output shaft by shaft coupling or spline；
Certainly the axis of motor output shaft can also extend in left-right direction, and now motor output shaft can pass through bevel gear and rotary shaft
It is in transmission connection；Articulations digitorum manus training institution can not also be as the part of this device for healing and training, such as in addition consumer can be
Buy or autogamy；May not be the rotating wheel in rotary shaft when such as torque output structure, such as the end in rotary shaft
Fixator of the prior art can be connected to torque output structure during use by setting drive splines or shaft coupling
On.
In order to be able to clearer explanation this device for healing and training, below just to corresponding with this device for healing and training by Shang Ting
The method of rehabilitation of eastern Mr.'s invention carries out detailed narration.This method of rehabilitation also known as Long Shi athletic rehabilitation method, its mainly by with
Under several parts composition.
First segment primitive panoramic limit athletic rehabilitation method
First, primitive and elementary motions
According to organization of human body and movement characteristic, complicated motion can be decomposed into several single positions, the single degree of freedom, around right
Answer the rotary motion of joint rotation, this most basic functional unit primitive, this motion is called elementary motions.Example
As：Centered on right elbow joint, with right forearm around right elbow joint make the relevant right elbow joint of flexion movement, right upper arm, the right side before
Arm is called right elbow joint primitive；Right forearm is a right elbow joint primitive of upper limb compound motion as flexion movement around right elbow joint
Motion.There are a primitive, corresponding elementary motions in some joints, such as：Elbow, knee joint；There are two primitives, correspondences in some joints
Two elementary motions, such as：Hip, carpal joint.
Motion constitutes normal, complicated compound motion in life to multiple primitive health in phase.
In addition to ten fingers of palm and ten toes of sole, extremity have 24 elementary motions, have around joint rotation
The motion turning, has the motion reversed around composite joint.
2nd, elementary motions rehabilitation is efficient athletic rehabilitation method one by one
So-called athletic rehabilitation is it is simply that motion dynamics, motion amplitude, movement velocity（Referred to as：Motion three elements）Recover to or close
The process of normal level.Elementary motions rehabilitation is efficient athletic rehabilitation method one by one, and two main reason is that：
1st, athletic rehabilitation is the learning process again to motion for the rehabilitation clients.Concentrate all superior resources, wholeheartedly, without single devotion
It is absorbed in the rehabilitation of a certain elementary motions：Cognitive, imitate, recover the motion dynamics of this primitive, motion amplitude, movement velocity, this is
Efficiency highest athletic rehabilitation method.Practice has been proven that this point.
2nd, usually, rehabilitation clients is the Motion missing of multiple primitives mostly, and each primitive disappearance degree is not
One, so there is a most tired primitive：The motion three elements being exactly this primitive have more equivalents than other primitives
Disappearance.When rehabilitation clients does many primitives compound motion of complexity, the most tired primitive is protected first, and this is that unconscious condition is anti-
Penetrate；Generally：The most tired primitive may will be no progress forever.This time, the most efficient method is many primitives compound motion that stops,
Athletic rehabilitation is carried out to single the most tired primitive；If ripe, the disappearance degree that tired primitive is greatly lowered namely divides
The thing of minute.
3rd, primitive panoramic limit athletic rehabilitation method
1st, panoramic limit athletic rehabilitation pattern
Now, so that right forearm stretches elementary motions in the wrong around right elbow joint as a example describe the various mode of operation of its athletic rehabilitation.Set：
It is movement velocity, the positive direction of motion dynamics that right forearm stretches motion, right forearm make to bend motion be movement velocity, motion dynamics
Negative direction；As shown in fig. 7, Fig. 7 is based on panoramic limit athletic rehabilitation method vector collection of illustrative plates：Its movement velocity horizontal axle and V represents,
Motion dynamics vertical axises F represents；O is movement velocity, the zero point of motion dynamics；A is the positive maximum of movement velocity, and C is
The maximum negative value of movement velocity；B is the positive maximum of motion dynamics, and D is the maximum negative value of movement velocity；It is also supposed that
E, I, G, H are all directions movement velocity, the intersection point of motion dynamics maximum, are that this primitive does maximum capacity during elementary motions.
Its movement velocity, motion dynamics constitute plane right-angle coordinate.(figure one)
As above-mentioned, ordinary circumstance, when doing right elbow joint elementary motions, its range of movement is rectangle E I to right elbow joint primitive
Whole spaces within GH and rectangle E I GH it is simply that being operated in the space of panoramic limit, that is, panoramic limit athletic rehabilitation pattern, with
Under described one by one.
O initial point：
Rehabilitation clients's right upper extremity is still in a certain position, does not exert a force, does not have stress, do not move.
OA straightway：
OA straightway represents that rehabilitation clients does not exert a force, and rehabilitation clients's muscle is in fully relaxed state or is in paralysis shape completely
State, rehabilitation clients's right elbow joint primitive is driven and does right elbow joint primitive and stretch motion.
First quartile：
First quartile working range is rectangle OAEB, and first quartile represents：Right elbow joint primitive apply stretch movement tendency positive force,
Active forward direction is done with certain movement speed and stretches motion.
OB straightway：
OB straightway represents that right elbow joint primitive applies, on this position, the positive force stretching movement tendency, but right elbow joint primitive stops
In certain position transfixion.Static forward direction stretch training can be carried out in this straightway and evaluate.
Second quadrant：
Second quadrant jobs scope is rectangle OB I C, and the second quadrant represents：Right elbow joint primitive applies the forward direction stretching movement tendency
Power, but with certain movement speed do passive negative sense bend motion.
OC straightway：
OC straightway represents that rehabilitation clients does not exert a force, and rehabilitation clients's muscle is in fully relaxed state or is in paralysis shape completely
State, rehabilitation clients's right elbow joint primitive is driven and does the motion in the wrong of right elbow joint primitive.
Third quadrant：
Third quadrant working range is rectangle OCGD, and third quadrant represents：Right elbow joint primitive apply movement tendency in the wrong negative force,
Active negative sense is done with certain movement speed and bends motion.
OD straightway：
OD straightway represents that right elbow joint primitive applies the negative force of movement tendency in the wrong on this position, but right elbow joint primitive stops
In certain position transfixion.Static negative sense can be carried out in this straightway and bend power training and evaluation.
Fourth quadrant：
Fourth quadrant working range is rectangle ODHA, and fourth quadrant represents：Right elbow joint primitive apply movement tendency in the wrong negative force,
But passively forward direction is done with certain movement speed and stretch motion.
In sum：Panoramic limit athletic rehabilitation pattern has eight kinds of patterns such as master is passive, bend and stretch.Rehabilitation clients can independently exist
Arbitrarily switch in eight kinds of patterns, carry out comprehensive, multi-functional rehabilitation training, and evaluate in training.
2nd, primitive panoramic limit athletic rehabilitation method
By near-end and distally one by one rehabilitation training is carried out to the elementary motions of the single primitive of rehabilitation clients；In terms by terms this primitive is transported
Power degree, motion amplitude, movement velocity carry out active and passive rehabilitation training, and the evaluation quantifying, that is, make this primitive
Athletic rehabilitation is in panoramic limit athletic rehabilitation pattern；Rehabilitation clients through by primitive panoramic limit exercise rehabilitation training after, limbs every
Individual elementary motions dynamics, motion amplitude, movement velocity close to or up normal when value when, then carry out compound motion rehabilitation instruction
Practice；Carry out emphatically this primitive panoramic limit athletic rehabilitation instruction to finding still to have the primitive of Motion missing in compound motion rehabilitation training
Practice, make compound motion reach proper motion form；Here it is primitive panoramic limit athletic rehabilitation method.
4th, the feature of primitive panoramic limit athletic rehabilitation method
1st, efficient motor learning method
When to limbs, certain single elementary motions carries out rehabilitation training, this elementary motions of rehabilitation clients are unique limbs behaviors, OK
It is to be united two into one correspondingly with idea, this is the process of a motor learning independently and towards unique objects,
The autonomous and with single-hearted devotion only way being efficiently to learn motor skill.Efficiency high, the confidence of patient and strength are also just high
?.
2nd, comprehensive athletic rehabilitation method
By near-end and distally to limbs, single primitive is carried out comprehensively comprehensive, multi-functional panoramic limit athletic rehabilitation pattern one by one
Athletic rehabilitation, comprehensive athletic rehabilitation method avoids the omission of Motion missing and ignores.
3rd, the rehabilitation of multielement and evaluation quantizating index
Quantizating index as the motion dynamics of athletic rehabilitation three elements, motion amplitude, movement velocity in rehabilitation and evaluates process
In all can be with numerical monitor.
4th, evaluate in training, rehabilitation course is shot the arrow at the target
During athletic rehabilitation, show the real-time value of each key element of motion dynamics, motion amplitude, movement velocity simultaneously, pass through
Compare with normal value, specify that rehabilitation goal, so that rehabilitation course is shot the arrow at the target.
5th, reduce medical personnel's labor intensity.
Either OT rehabilitation teacher or PT rehabilitation teacher has different degrees of limbs to strain, machine instead of people it is clear that fall
Low medical personnel's labor intensity.
The interactive rule of second section shape meaning
The mankind walk upright and handss formation be through many years evolve come, modern birth after will be through the study of 8 years
Grow up and just can veritably walk, run, the motion of a people is very long process from growing to maturation.Because of various reasons, he
Motion have disappearance, then he is accomplished by athletic rehabilitation, to recovering its productivity and orthobiosiss.
Rehabilitation clients is subject
It is known that athletic rehabilitation is learning again of motion, it is the intellectual activity of mankind's high iq.So-called high iq is requirement health
Multiple teacher pays close attention to rehabilitation clients, instructs, implies with adjusting to changed conditions；Rehabilitation clients is also required to cannily go as far as possible to coordinate the work of rehabilitation teacher
Make.
Rehabilitation clients needs strategically to be learnt with what medical personnel and cooperation of accompanying and attending to moved again.So rehabilitation clients is
The behavioral agent of rehabilitation medical work, is subject.So require the body that rehabilitation clients firms confidence and social responsibility, to oneself
Body situation has a comprehensively understanding, whole-heartedly puts into rehabilitation process.
Neural piping lane
Stretch as a example motion by left index finger, in brain left index finger stretch movement instruction rise place movement instruction information via brain
Neural traffic part, vertebra, left shoulder, left upper arm, left forearm, the left hand palm be transferred to the definite of the left index finger of final target and
Fuzzy hollow zrve transmission corridor, is called neural piping lane.Definitely refer to that medical professional thinks, really in above-mentioned definition
Certainly it is such neural traffic approach；The fuzzy neural traffic tubulose approach referring to make the form that rehabilitation clients understands slightly spacious（Cause
For amateur so will obscure）.In fact, the corridor of idea that neural piping lane is mentioned after being also, set up nerve piping lane concept
Purpose be left index finger athletic rehabilitation during reduce the generation of other spuious motions.That is neural piping lane is to intelligence
One space constraint of power activity is it is desirable to only idea and left index finger stretches the uniquely correct way that nervus motoriuies information is passed through
Footpath nerve piping lane reaches the destination simultaneously.
The interactive rule of shape meaning
Shape is exactly behave, motion, touches；Meaning be exactly thinking, diligently, idea, tactile.The interactive rule of shape meaning
It is exactly profile and the high unity of interior meaning and combination, described below：
Still stretched as a example motion it is assumed that rehabilitation clients's left index finger does not have motor capacity completely by left index finger.
The first step, rehabilitation clients's left index finger is lentamente stretched, and has the synchronous sound of " stretching " " stretching " to be issued, rehabilitation clients simultaneously
Concentrate left index finger expecting：Here it is left index finger stretches motion doing.This process is exactly the cognition of motion, is study
The first step, so repeated multiple times；
Second step, rehabilitation clients's left index finger is still lentamente stretched, and has the sound of " stretching " " stretching " simultaneously or is synchronously sent out by rehabilitation clients
Go out, rehabilitation clients concentrates to produce idea：My brain motorium produces left index finger and stretches movement instruction, these instructions via
Neural piping lane reaches left index finger, makes left index finger stretch motion doing；Relatively sharp and strong idea is：My related flesh
Meat synchronously makes power, and this is that my left index finger independently stretches motion doing.This process is exactly the imitation of motion, is the second of study
Step, so repeated multiple times；
3rd step, rehabilitation clients's left index finger is stretched stopping, and left index finger is in free state.Or " stretching " " stretching " is sent by rehabilitation clients
While sound, rehabilitation clients concentrates to produce idea：The command information of nervus centraliss arranges my left hand via neural piping lane
Forefinger related muscles synchronously make power, and I stretches left index finger！Stretch！This process be just attempt to paleocinetic process it is believed that
It is the test of school grade.At this moment, if left index finger have slight actively stretch motion, represent learning success, carry out next step；
If learning unsuccessful, repeat the above steps.
4th step, although neural piping lane is only idea and left index finger is stretched nervus motoriuies information and passed through in this event
Unique right way, idea during producing neural piping lane transfer function should have strong exclusiveness.But if health
The intellectual activity ability of multiple person and existing physiological condition to limited by the control of athletic rehabilitation behavior it is possible to produce much spuious fortune
Dynamic.So-called spuious motion is it is simply that implementing when left index finger stretches motion to create such as：Other motions of contraction of abdominal muscle.
During follow-up athletic rehabilitation, spuious athletic meeting is screened and is faded away.
This be one uninteresting, consumption rehabilitation clients's energy shape meaning interactive process, contain cognition, imitation, autonomic movement,
Spuious motion is screened and is disappeared.Especially it is emphasised that rehabilitation clients must whole-heartedly put into, unexpected effect can be reached.
Section three, scrape therapy is first-selected Aided Physical therapy
First, there is other physiotherapys unrivaled limbs top layer and touch depth and range；
2nd, improve microcirculation, optimize nerve conduction link, reduce nerve conduction impedance in nerve conduction link；
3rd, normal autonomic movement is simulated in induction muscle reflex activity；
4th, avoid amyotrophy completely, muscle passive activity amount is much larger than autonomic movement activity；
Five is different from acusector, intermediate frequency, low frequency, can accomplish zero injury to neurocyte；
Section four, motion dynamics sequence rule
Motion dynamics sequence rule is exactly：Human motion needs to consume strength, and normal human body posture is graceful；Rehabilitation
Person needs to carry out rehabilitation training because of a part Motion missing, and its athletic posture also shows exception simultaneously.At this moment should pay the utmost attention to
The rehabilitation training of affected area motion dynamics, when motion dynamics recover normal when, by brain modulation athletic posture naturally also
Recover normal.
Specific people does the momentum of specific action needs under specific environment, kinetic energy is certain, according to momentum
Theorem, law of conservation of energy, motion dynamics has diminished it is necessary to power effect time change is to maintain the continuation of motion and with not
For the purpose of unstability, this complicated process is subject to the many close-loop automatic adjustment of brain.Change action time of power, athletic posture just shows
Reveal exception.So want normal that of athletic posture to be necessary for first recovering motion dynamics.
If still suspected, then just convert different bionical attitudes, the custom of bad attitude cannot be formed.But
Motion dynamics must preferential rehabilitation anyway.
Section five, inverse gesture rule
If rehabilitation clients's affected portion muscular tension increases, this part is always at extremely bending and stretching state or extremely bends and stretches trend,
When resting state or kinestate, affected portion all should be made to be in normally against gesture and bend and stretch state or so that the abnormal trend of bending and stretching is subject to against gesture
Resistance.Inverse gesture is that antagonism muscular tension increases, and its objective is that holding back resistance muscular tension increases and be allowed to as minimum.
Everybody only focused on affected portion in resting state observe inverse gesture rule, have some such as finger-separating plate, special
Tool etc. is using.With greater need in accordance with inverse gesture rule during its tangible kinestate.
For example, take exercise arm strength friction plate, exercise coordinate etc. exercise for power device, be all that rehabilitation clients's palm is bundled in one
On individual columnar object, when limbs are exerted oneself, palm muscular tension increases, and palm is always at abnormal state in the wrong, because at this moment rehabilitation
Person is in the excitement phase of motor relearning, and palm is chronically at abnormal state in the wrong can encourage this exception attitude in the wrong becomes custom
Attitude；Under normal circumstances it should be bundled in when being in and normally stretch attitude rehabilitation clients's palm on a plate-shaped body, make palm different
Trend of often bending is obstructed.Effect of getting twice the result with half the effort so can be reached.
Section six, law of competition
Competition is present in each corner of biosphere.
When accepting athletic rehabilitation treatment, affected area B occurs abnormal motion or abnormal motion to affected area A often
Trend, this phenomenon represents that affected area A and affected area B has the living resources sharing.In order to promote living resources to derive
With living resources reasonable redistribution, introduce competition mechanism.Affected area B is made to accept the same of athletic rehabilitation treatment in affected area A
When, take advantage of a situation positively, move against gesture, here it is law of competition.
It was verified that affected area B comply with positively abnormal motion trend simultaneously also reverse abnormal motion trend and do phase
The motion answered, this competitive way can produce good effect.All can be quick in accordance with two affected area after law of competition
Effectively obtain respective living resources, abnormal motion or abnormal motion trend disappear, and become two independent, motions without exception
The normal portions of association.
Section seven, rule of taking advantage of a situation
When rehabilitation clients's sneeze, yawn, stretch oneself or carry out other abnormal motion when, rehabilitation clients occur in that temporary transient but
But it is normal, healthy kinestate or attitude, rehabilitation clients should take advantage of a situation and maintain this disappearance multiple in time, as long as possible
The continuing, until this kinestate or attitude disappear of existing kinestate or attitude.
First for certain a few example, it is appreciated that the kinestate of disappearance reproduction or attitude gradually can be controlled
Last longer and can controlled termination this kinestate or attitude.It is true that the rehabilitation of some motions strictly exists
Consolidate on maintenance of taking advantage of a situation is basic and formed.
Secondly, the kinestate of disappearance and reproduction or attitude, even the reproduction of moment, for rehabilitation clients, is all
Pleasure, filled with exultation.Its mentation is immeasurable.
Section eight, avoid Cardiac Involvemant
During athletic rehabilitation, some rehabilitation clients's hearts may unawares be involved.
During the rehabilitation training of rehabilitation clients a certain position, it has been generated synchronously with a spuious motion with the motion of this position, this is miscellaneous
Load dynamic superposition singularly in bulk on the heart of periodic pulses.The physical effect of spuious motion superposition is to strengthen or disappear
Weak atrium, the diastole of ventricle, contraction, lead to that unstable blood pressure is fixed, blood reflux；Its physiology is experienced as dizziness, has palpitation, and heart has
Suffer oppression sense, tired swollen, even have premature beat sense or have slight pain.
It is the reality of objective reality that rehabilitation clients's heart of different body constitution suffers from involving, and this can make heart be subject to wound；Blood
Turbulent flow, fluctuation of blood pressure may result in cardiovascular disease, should avoid Cardiac Involvemant, need to accomplish during athletic rehabilitation：
In accordance with the interactive rule of shape meaning, rehabilitation clients thoroughly understands the meaning setting up neural piping lane concept, and the focus of shape meaning concentrates on this
The athletic rehabilitation at position.
Movement velocity is slow, and motion frequency must be less than heart rate, and the irregular change of motion frequency；
Unsustainable, great dynamicses keep a kind of resting state.
Heart is involved, and is that synchronous companion goes and is custom with certain motion.Heart, once being involved, still needs to
According to above 3 points through rehabilitation exercise after a while, involvement can be made to disappear.Here it is the spuious fortune that second section is addressed
Dynamic examination disappears.
Psychotria rubra (Lour.) Poir. moves freely
After athletic rehabilitation treatment, the motion three elements such as motion dynamics, motion amplitude, movement velocity have obtained rehabilitation clients
The recovery of big degree, but having a kind of is to need rehabilitation clients oneself through the just obtainable motor capacity of effort after a while,
That is exactly unconscious moving freely, for example：Walking, running, driving vehicle.The coordination linkage of many elementary motions and each phase
Close elementary motions disappearance degree reduces the essential condition being to move freely again.
Rehabilitation clients need carry out in the environment have safety guarantee unconscious freely move, assess oneself under simulated scenario
In real-life motor capacity, farthest find the Motion missing of each primitive, the comprehensive quantization motion of oneself
Ability, moves in the case that displacement ability allows freely.
Claims (9)
1. device for healing and training, including device frame and drive mechanism, drive mechanism includes having motor casing and motor output shaft
Motor it is characterised in that:The rotary shaft that pivot center extends along the longitudinal direction is rotatably equipped with device frame, in rotary shaft
It is provided with torque output structure, motor output shaft is in transmission connection with rotary shaft, device frame is provided with described motor casing is carried out
The pull pressure sensor supporting.
2. device for healing and training according to claim 1 it is characterised in that：Device frame includes front riser, rear riser, rotates
Rolling assembling is distinguished on forward and backward riser in the rear and front end of axle, the hollow axle that motor output shaft extends along the longitudinal direction for axis,
Rotary shaft coaxial line is arranged in described hollow axle and is fixedly connected with described hollow axle.
3. device for healing and training according to claim 1 it is characterised in that：Described motor casing is located at a left side for described rotary shaft
Side, motor casing is arranged in left-right direction, and motor casing is fixed with the suspension being set up in parallel with motor casing, and pull pressure sensor is passed through
It is connected with described suspension and support described motor casing.
4. the device for healing and training according to claim 1-3 any one it is characterised in that：Device for healing and training also includes
Articulations digitorum manus training institution, articulations digitorum manus training institution includes mechanism rack, and mechanism rack is provided with the guiding of guide direction arc extension
Structure, on guide frame, guiding movement is equipped with the training for being connected with the torque output structure driven in described rotary shaft
Part, training piece is provided with the finger attachment structure being connected for accordingly finger to be trained.
5. device for healing and training according to claim 4 it is characterised in that：The guide direction of guide frame is walked along involute
To extension.
6. device for healing and training according to claim 4 it is characterised in that:Described finger attachment structure is included for described
The fingerstall of the finger belly insertion of finger to be trained, fingerstall is connected with described training piece.
7. device for healing and training according to claim 6 it is characterised in that：Fingerstall passes through connecting plate and described training piece phase
Even, one end of connecting plate and fingerstall are hinged and connected, and the other end of connecting plate and training piece are hinged and connected.
8. device for healing and training according to claim 4 it is characterised in that：Guide frame includes two spaced rollings
Needle bearing group, each needle bearing group all includes the multiple needle bearings moving towards order arrangement along guide frame, needle roller axle
The axis holding extends along the longitudinal direction, and training piece is had being rolled with corresponding needle bearing between two needle bearing groups and leads
Guide section to cooperation.
9. device for healing and training according to claim 8 it is characterised in that：Articulations digitorum manus training institution is located at the right side of rotary shaft
Side, torque output structure includes the rotating wheel being fixedly arranged in rotary shaft, and training piece has the connection being fixed on described rotating wheel
Section.
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| US5327882A (en) * | 1992-09-03 | 1994-07-12 | Toronto Medical Corp. | Continuous passive motion device |
| CN203123429U (en) * | 2013-01-23 | 2013-08-14 | 泰山医学院 | Training device for finger stretching rehabilitation |
| CN104887457A (en) * | 2015-06-11 | 2015-09-09 | 尚廷东 | Rehabilitation training device and training bracket thereof |
| CN105726263A (en) * | 2016-04-19 | 2016-07-06 | 西安交通大学 | Wearable hand exoskeleton rehabilitation training robot |
| CN105796283A (en) * | 2016-03-01 | 2016-07-27 | 哈尔滨工程大学 | Exoskeleton hand rehabilitation training device |
| CN205586014U (en) * | 2016-04-18 | 2016-09-21 | 朱勇 | Two -dimentional measuring device of limbs strength |
| CN206822825U (en) * | 2016-12-04 | 2018-01-02 | 郑州东辰科技有限公司 | A kind of device for healing and training |
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2016
- 2016-12-04 CN CN201611099172.4A patent/CN106377396B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5327882A (en) * | 1992-09-03 | 1994-07-12 | Toronto Medical Corp. | Continuous passive motion device |
| CN203123429U (en) * | 2013-01-23 | 2013-08-14 | 泰山医学院 | Training device for finger stretching rehabilitation |
| CN104887457A (en) * | 2015-06-11 | 2015-09-09 | 尚廷东 | Rehabilitation training device and training bracket thereof |
| CN105796283A (en) * | 2016-03-01 | 2016-07-27 | 哈尔滨工程大学 | Exoskeleton hand rehabilitation training device |
| CN205586014U (en) * | 2016-04-18 | 2016-09-21 | 朱勇 | Two -dimentional measuring device of limbs strength |
| CN105726263A (en) * | 2016-04-19 | 2016-07-06 | 西安交通大学 | Wearable hand exoskeleton rehabilitation training robot |
| CN206822825U (en) * | 2016-12-04 | 2018-01-02 | 郑州东辰科技有限公司 | A kind of device for healing and training |
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