CN106420261A - Upper-limb rehabilitation device of half-exoskeleton - Google Patents
Upper-limb rehabilitation device of half-exoskeleton Download PDFInfo
- Publication number
- CN106420261A CN106420261A CN201610916073.4A CN201610916073A CN106420261A CN 106420261 A CN106420261 A CN 106420261A CN 201610916073 A CN201610916073 A CN 201610916073A CN 106420261 A CN106420261 A CN 106420261A
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- motor
- forearm
- base
- large arm
- upper limb
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 79
- 230000033001 locomotion Effects 0.000 claims abstract description 65
- 238000012549 training Methods 0.000 claims abstract description 64
- 238000005183 dynamical system Methods 0.000 claims abstract description 17
- 210000000245 forearm Anatomy 0.000 claims description 76
- 238000011084 recovery Methods 0.000 claims description 29
- 230000008878 coupling Effects 0.000 claims description 19
- 238000010168 coupling process Methods 0.000 claims description 19
- 238000005859 coupling reaction Methods 0.000 claims description 19
- 230000007246 mechanism Effects 0.000 claims description 11
- 238000000034 method Methods 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 238000013500 data storage Methods 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 2
- 230000006378 damage Effects 0.000 abstract description 4
- 210000000323 shoulder joint Anatomy 0.000 description 27
- 210000002310 elbow joint Anatomy 0.000 description 11
- 241000222712 Kinetoplastida Species 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 206010019468 Hemiplegia Diseases 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 210000000988 bone and bone Anatomy 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 230000035876 healing Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 206010002027 Amyotrophy Diseases 0.000 description 1
- 206010022998 Irritability Diseases 0.000 description 1
- 208000001132 Osteoporosis Diseases 0.000 description 1
- 208000005392 Spasm Diseases 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 210000003710 cerebral cortex Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 230000001447 compensatory effect Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 230000000926 neurological effect Effects 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
- 230000004962 physiological condition Effects 0.000 description 1
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Classifications
-
- 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
-
- 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
- A61H1/0218—Drawing-out devices
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0149—Seat or chair
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1614—Shoulder, e.g. for neck stretching
- A61H2201/1616—Holding means therefor
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
- A61H2201/501—Control means thereof computer controlled connected to external computer devices or networks
-
- 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
-
- 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
- A61H2205/062—Shoulders
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention provides an upper-limb rehabilitation device of half-exoskeleton, including a base, a control system, a dynamical system, an input/output device, and a first movement combination or a second movement combination; the base is used to place the dynamical system and support the control system, the input/output device and the first or the second movement combination; the control system is used to manage the training data collected by the rehabilitation device; the dynamical system is used to provide driving force for the first or the second movement combination; the input/output device is used to input the training instruction of users and display the generated data during training; the first or the second movement combination is used to complete the upper-limb movement cooperating with users. The upper-limb rehabilitation device of half-exoskeleton can avoid the deviation of the motion trail and the pose between the moving body of the rehabilitation device and human body (the upper limb), prevent patients from suffering a secondary damage during their rehabilitation training, and improve the security and validity of rehabilitation movements.
Description
Technical field
The present invention relates to medical instruments field, in particular it relates to half ectoskeleton upper limb recovery instrument.
Background technology
Research shows, either for the patient after hemiplegia or bone surgery, repeating rehabilitation training can be significantly
Improve the exercise performance of shoulder joint.A large amount of clinical trials are proved, carry out rehabilitation training as early as possible permissible after hemiplegia or bone surgery
Beneficial effect is produced in a short time.For hemiplegic patient, the rehabilitation training of early stage can promote cerebral cortex nervus motoriuies
Plastic sexual development, promote the restructuring of disease sites nervous tissue with compensatory, improving related neurological irritability and stimulates to external world
Respond, be conducive to recovering motor function as early as possible and keep the mobility of corresponding joint, improve sports coordination ability；For
For orthopedics patient, early rehabilitation training can effectively prevent the complication such as amyotrophy, osteoporosises and spasm.
Traditional rehabilitation training of upper limbs takes the one-to-one rehabilitation training of Physical Therapist and patient.This training method exists many
Problem:First, the existing Physical Therapist's limited amount of China, it is impossible to meet growing one-to-one rehabilitation training demand.Physical Therapist
Supply falls short of demand further causes the high rehabilitation cost predicament of patient；Secondly as Physical Therapist people is because of uncertainty, it is impossible to fully protect
Card rehabilitation training dynamics and the concordance of intensity；Rehabilitation training effect is heavily dependent on Physical Therapist's experience and professional water
Flat, it is impossible to guarantee to train effectiveness.Research shows, current rehabilitation training of upper limbs best bet is to utilize external device (ED) both at home and abroad
Zero load weightless passive exercise is carried out to patient's upper limb early.With the development of science and technology, medical robot technology is obtained
To fast development.Instrument is exactly new opplication of the roboticses in terms of rehabilitation medical.There is no tired problem in robot, can
Full-time employment, and disclosure satisfy that the training strength of different patients is required, thus be conducive to improving Rehabilitation quality and rehabilitation
Efficiency.
Some upper limb recovery instrument great majority existing are exoskeleton-type, i.e.,：Human body upper arm and forearm are separately fixed at machine
On part, and by the rotary shaft of shoulder joint arranged alongside is driven, realize the specific several upper extremity exercises needed for rehabilitation training.This
The instrument of kind of version seems function and is easily achieved, and control is got up also more convenient, but often has that " human body shoulder joint is revolved
Turn center misaligned with instrument mechanism center of rotation, arm is excessive with support separating distance in motor process；Upper arm with
The connection for moving forward and backward impact forearm and support of frame；And the flexible fixing strap excessive tensile between arm and support, produce volume
The defect of outer active force ".Although some products are met human body shoulder joint center of rotation and are overlapped with the center of rotation of machine, but by
In upper limb fixed form existing defects, cause training effect undesirable.Existing product great majority can only be on patient side
Limb carries out rehabilitation training, often complex structure heaviness, the adaptability deficiency to different patient condition's situations.
Chinese invention patent publication number：CN102309393A, title：Dermaskeleton type upper limb rehabilitation robot, including five certainly
By degree or three-freedom mechanical arm, auxiliary body and control system.The invention frame for movement is more complicated.Although can ensure that
Human body shoulder joint center of rotation is overlapped with machine center of rotation, but which can increase to patient's upper limb upper arm and forearm fixed form
Load to patient's muscle of upper extremity, causes the discomfort of patient, causes the upper limb rehabilitation robot to do the internal/external rotations fortune of shoulder joint
When dynamic, effect is not obvious.And, what the invention can only be single carries out rehabilitation training to patient side upper limb.If it is desired to suffering from
The upper limb alternately rehabilitation training of person both sides, then need to be equipped with two above-mentioned recovery exercising robots.
Chinese invention patent publication number：CN102379793A, title：A kind of upper-limbs rehabilitation training robot, closes including I
Section, ii joint, ii I joint, iv joint and V joint, and 5 joints are sequentially connected in series to form agent structure.The invention
Frame for movement is more complicated, and patient's upper limb upper arm and forearm are all fixed, and has increased the load to patient's muscle of upper extremity.
Due to upper arm and forearm rotation attitude complexity, synchronicity is difficult to control to, and therefore easily causes additional negative to patient during rehabilitation training
Load and secondary damage.And, what the invention can only be single carries out rehabilitation training to patient side upper limb.If it is desired to patient two
The alternately rehabilitation training of side upper limb, then need to be equipped with two above-mentioned recovery exercising robots.
Additionally, overwhelming majority patent or product are all that one of rotary shaft of healing robot is placed on from trouble at present
The closer position of person's shoulder joint.There is potential safety hazard in such structure arrangement：Some parts are closer from human body, Huan Zhe
Slightly do not note in rehabilitation training being possible to produce collisions with these parts.
In sum, some upper limb healing apparatuses are had or the action of rehabilitation training requirement, Huo Zheshi can not be fully achieved
, there is secondary injury hidden danger, or equipment structure complexity, valuable product so that rehabilitation training becomes in the effect on driving birds is not good of existing action
This is high, it is difficult to by general popular acceptance.
Content of the invention
For defect of the prior art, it is an object of the invention to provide a kind of half ectoskeleton upper limb recovery instrument.
According to the present invention provide half ectoskeleton upper limb recovery instrument, including：Base, control system, dynamical system, input are defeated
Go out equipment, half ectoskeleton upper limb recovery instrument also includes the first movement combination or the second movement combination；Wherein：
The base is used for placing dynamical system and providing to control system, input-output equipment, and moves to first
Combination or the support of the second movement combination；
The control system is used for being managed the training data of instrument collection；
The dynamical system is used for providing driving energy to the first movement combination or the second movement combination；
The input-output equipment is used for being input into the training directive of user, and shows the data for generating in training process；
First movement combination or the second movement combination are used for coordinating user to complete upper extremity exercise.
Preferably, also include seat, the seat is height-adjustable chair.
Preferably, the base includes：Base cabinet, electric machine support and bearing and native processor bearing, the bottom
Seat box bottom installs the universal wheel with self-locking mechanism, and top is provided with armstand rotating shaft axis hole, the electric machine support, bearing and sheet
Ground processor bearing installs armstand motor on the internal motor support base of base cabinet.4th, according to claim 3
Half described ectoskeleton upper limb recovery instrument, it is characterised in that first movement combination includes：Armstand, large arm and forearm, institute
The one end for stating armstand is provided with pivot structure, and the pivot structure is connected with the armstand motor in base by shaft coupling,
The other end of the armstand is provided with large arm rotating shaft axis hole and motor support base, is provided with large arm motor on the motor support base,
Described large arm one end is provided with pivot structure, and the pivot structure is connected with the large arm motor in armstand by shaft coupling, institute
The other end for stating large arm is provided with motor support base, installs forearm motor on the motor support base, and described forearm one end is provided with
Pivot structure, the pivot structure is connected with the forearm motor in large arm by shaft coupling.
Preferably, the base includes：Base cabinet, support and native processor bearing, the base cabinet bottom
Universal wheel with self-locking mechanism is installed, top sets standoff installation and positioning structure, and the native processor bearing is arranged on
Inside base cabinet,；One end of the support is arranged on base cabinet top by flange, and the other end is provided with crank arm rotary shaft axis hole
And motor support base, connecting lever motor is installed on the motor support base.
Preferably, second movement combination includes：Connecting lever, large arm and forearm, one end of the connecting lever is provided with rotating shaft
Structure, the pivot structure is connected with the connecting lever motor on support by shaft coupling, and the other end of the connecting lever is provided with
Large arm rotating shaft axis hole and motor support base, install large arm motor on the motor support base, described large arm one end is provided with rotating shaft knot
Structure, the pivot structure is connected with the large arm motor on connecting lever by shaft coupling, and the other end of the large arm is provided with motor
Bearing, installs forearm motor on the motor support base；Described forearm one end be provided with pivot structure, the pivot structure lead to
Cross shaft coupling to be connected with the forearm motor in large arm.
Preferably, human body upper arm lengths adjustment mechanism is additionally provided with the large arm, and the human body upper arm lengths adjust machine
Structure includes：Four support members, two slide bars and slide block；Wherein, four support members are arranged in large arm, and support member is provided with
Fluting, two slide bars are fixed on support member by trip bolt；Slide block is fixed on slide bar by trip bolt, and slide block
Side is provided with fluting；Forearm motor support is on slide block.
Preferably, human body forearm fixing device is additionally provided with the forearm, and the human body forearm fixing device is used for people
Body upper forearm is fixed on forearm, and fixed form includes：Flexible-belt.
Preferably, the control system includes：Remote computer, native processor, sensor；Specifically,
The remote computer is used for being managed the personal information of user, and foundation is entered for the training of each user
Degree；
The native processor is used for for user training the data storage for generating and sends to remote computer, the bottom of installed in
On seat internal seat；
The sensor includes：Encoder and torque sensor, square sensor is used for monitoring the power during rehabilitation exercise
Square size, encoder is used for detecting and feeding back the anglec of rotation of dynamical system motor.
Preferably, the dynamical system includes：Motor and related accessory；The input-output equipment includes：Show
Device and hand held controller, display is used for showing the data for generating in rehabilitation training；Hand held controller is used for selecting rehabilitation
The motor pattern of training and adjustment range of movement and movement velocity, the motor pattern of wherein rehabilitation training includes：Manually adjust
Pattern and automatic running pattern.
Compared with prior art, the present invention has following beneficial effect：
1st, the half ectoskeleton upper limb recovery instrument that the present invention is provided can follow instrument and overlap with human synovial center of rotation original
Then, it is to avoid instrument movable body and human body (upper limb) movement locus and the deviation of pose, it is prevented effectively from rehabilitation training and suffers from
The secondary injury of person, improves safety and the effectiveness of rehabilitation exercise.
2nd, the half ectoskeleton upper limb recovery instrument that the present invention is provided retains the local directed complete set degree of freedom of human body attitude, improves rehabilitation
The comfort level of training；Multiple rehabilitation training campaigns are realized using succinct frame for movement, the rotational freedom of shoulder joint kinesitherapy only has
Two, can but realize three kinds of basic exercises of shoulder joint, the flexion/extension motion of elbow joint and the compound fortune of other forms of patient
Dynamic.
3rd, the half ectoskeleton upper limb recovery instrument that the present invention is provided can quickly realize the rotation health to human body or so upper limb
Refreshment is practiced；Instrumentation is convenient, motor pattern is various, can both manually adjust, it is also possible to automatic running；By remote monitoring, root
Rehabilitation training plans, adjustment rehabilitation exercise speed and rehabilitation exercise scope are formulated according to the rehabilitation training progress of patient's individual's account,
Be conducive to improving the effect for resuming training.
Description of the drawings
The detailed description that with reference to the following drawings, non-limiting example is made by reading, the further feature of the present invention,
Objects and advantages will become more apparent upon：
Fig. 1 is the structural representation using half ectoskeleton upper limb recovery instrument during the first movement combination；
Fig. 2 is the structural representation using half ectoskeleton upper limb recovery instrument during the second movement combination；
Fig. 3 is the structural representation of base；
Fig. 4 is the structural representation of the first movement combination；
Fig. 5 is the structural representation of the second movement combination；
Fig. 6 is the overall structure diagram of large arm and forearm in the present invention；
Fig. 7 is the structural representation of forearm in the present invention；
Fig. 8 is the theory diagram of control system in the present invention；
In figure：
1- base；
101- universal wheel；
102- base cabinet；
103- motor support base；
104- electric machine support；
105- armstand power transmission shaft；
106- shaft coupling；
107- armstand planetary gear reducing motor；
201- armstand；
202- connecting lever；
203- support；
204- large arm planetary gear reducing motor；
205- connecting lever planetary gear reducing motor；
3- large arm；
301- large arm power transmission shaft；
302- support member；
303- trip bolt；
304- groove；
305- slide bar；
306- scale；
307- slide block；
4- forearm；
401- forearm gripper shoe；
402- flange shaft；
Screw of the 403- with handwheel；
404- screwed hole；
405- forearm adjusting bracket；
406- forearm planetary gear reducing motor
407- forearm motor coupler
5- hand held controller；
6- display screen；
7- seat；
8- processor module.
Specific embodiment
With reference to specific embodiment, the present invention is described in detail.Following examples will be helpful to the technology of this area
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill to this area
For personnel, without departing from the inventive concept of the premise, some changes and improvements can also be made.These belong to the present invention
Protection domain.
According to the present invention provide half ectoskeleton upper limb recovery instrument, by control shoulder joint two rotational freedoms and
One rotational freedom of control elbow joint motion realizes four kinds of basic actss of rehabilitation training of upper limbs and based on basic actss group
The rehabilitation training campaign of conjunction；By will shoulder, the center of rotation of elbow joint controlling organization and human body shoulder, elbow joint center of rotation weight
Close, it is to avoid instrument movable body and human body (upper limb) movement locus and the deviation of pose, improve comfortableness, the safety of rehabilitation exercise
Property and effectiveness；By fixing patient's upper forearm with instrument movable body, the controlled vector of upper limb space motion is set up；Logical
Cross control realization upper limb space motion path and Pose Control to forearm vector；By human body upper arm not being transported with rehabilitation mechanical
Kinetoplast is fixed, and makes human body carry out the local directed complete set of shoulder joint and upper arm attitude according to own physiological condition；By retaining upper limb
Before forearm rotation and supination degree of freedom, make to carry out during the passive exercises such as straight-arm shoulder joint flexion/extension, abduction/adduction that patient can be natural
Ground rotation upper limb, resumes training middle sense of discomfort and improper load so as to mitigate；By the local predetermined movement of instrument and long-range doctor
The mode that monitoring moving combines is treated, realizes the purpose of personalized rehabilitation training of upper limbs.
The half ectoskeleton upper limb recovery instrument that the present invention is provided includes：Base, control system, dynamical system, input and output set
Standby, and the first movement combination or the second movement combination；Wherein：
The base is used for placing dynamical system and providing to control system input-output equipment, and the first movement combination
Or second movement combination support；
The control system is used for being managed the data of instrument collection；
The dynamical system is used for providing driving energy to the first movement combination or the second movement combination；
The input-output equipment is used for being input into the training directive of user and shows the data for generating in training process；
First movement combination or the second movement combination are used for coordinating user to complete upper extremity exercise.
Also include seat, the seat is height-adjustable chair, so as to adjust patient's shoulder height.
Scheme one：The base includes：Base cabinet, electric machine support and bearing and native processor bearing, the bottom
Seat box bottom installs universal wheel with self-locking mechanism, and top is provided with armstand rotating shaft axis hole, the motor support base and is originally located in
Reason device bearing is equipped with armstand motor inside base cabinet, on the motor support base.Wherein, the base can be real
Existing instrument is moved integrally and instrument and human body relative position are adjusted (as position adjustment when left and right sides upper limb is trained).
First movement combination includes：Armstand, large arm and forearm, one end of the armstand is provided with pivot structure,
The pivot structure is connected with the armstand motor in base by shaft coupling, and the other end of the armstand is provided with large arm rotating shaft
Axis hole and motor support base, are provided with large arm motor on the motor support base, described large arm one end is provided with pivot structure, described
Pivot structure is connected with the large arm motor in armstand by shaft coupling, and the other end of the large arm is provided with motor support base, institute
Installation forearm motor on motor support base is stated, described forearm one end is provided with pivot structure, and the pivot structure passes through shaft coupling
It is connected wherein with the forearm motor in large arm, the armstand can be rotated around vertical direction axle, and can be by adjusting patient's seat
Appearance makes armstand rotate shaft centre line by shoulder joint center of rotation, realizes shoulder internal rotator/outward turning by armstand rotation and passively transports
Dynamic.
Scheme two：The base includes：Base cabinet, support and native processor bearing, the base cabinet bottom peace
Universal wheel of the dress with self-locking mechanism, top sets standoff installation and positioning structure, and the native processor bearing is arranged on bottom
Seat box house,；One end of the support is arranged on base cabinet top by flange, and the other end of support is provided with crank arm rotary shaft
Axis hole and motor support base, install connecting lever motor on the motor support base.Wherein, the base can realize instrument entirety
Mobile and instrument and human body relative position are adjusted (as position adjustment when left and right sides upper limb is trained).
Second movement combination includes：Connecting lever, large arm and forearm, one end of the connecting lever is provided with pivot structure, institute
State pivot structure to be connected with the connecting lever motor on support by shaft coupling, the other end of the connecting lever is provided with large arm rotating shaft
Axis hole and motor support base, install large arm motor on the motor support base, described large arm one end is provided with pivot structure, described turn
Axle construction is connected with the large arm motor on connecting lever by shaft coupling, and the other end of the large arm is provided with motor support base, described
Forearm motor is installed on motor support base；Described forearm one end be provided with pivot structure, the pivot structure pass through shaft coupling
It is connected wherein with the forearm motor in large arm, the connecting lever can be rotated around vertical direction axle, and can be by adjusting patient's seat
Appearance makes connecting lever rotate shaft centre line by shoulder joint center of rotation, is rotated by connecting lever and drives patient's upper extremity exercise, realizes shoulder joint
Section internal/external rotations passive exercise.
Human body upper arm lengths adjustment mechanism is additionally provided with the large arm, to adapt to the upper limb upper arm lengths of different patients；
The human body upper arm lengths governor motion includes：Four support members, two slide bars and slide block；Wherein, four support members are installed
In large arm, and support member is provided with fluting, and two slide bars are fixed on support member by trip bolt；Slide block is by fastening spiral shell
Nail is fixed on slide bar, and the side of slide block is provided with fluting；Forearm motor support is on slide block.The large arm can be around
Horizontal direction axle is rotated, and can make large arm shaft centerline by shoulder joint center of rotation by adjusting patient's sitting height, by big
Arm is rotated and realizes shoulder joint flexion/extension and abduction/adduction passive exercise.
Human body forearm fixing device is additionally provided with the forearm, and the human body forearm fixing device is used for before human upper limb
Arm is fixed on forearm, and fixed form includes：Flexible-belt.The forearm can be rotated around horizontal direction axle, and can be big by operation
Upper arm lengths adjustment mechanism on arm makes forearm shaft centerline by patient's elbow joint center of rotation, is rotated by forearm and realizes
Elbow joint flexion/extension passive exercise.
The control system includes：Remote computer, native processor, sensor.Specifically, remote computer can be right
Personal patient information is managed, that is, set up personal patient information's account and record rehabilitation training progress, facilitate doctor to per
Patient carries out targetedly rehabilitation training；Native processor is used for the control of instrument movable body, the storage of patient's training information and sends out
Send；Sensor main will include encoder and torque sensor, and wherein torque sensor is arranged between decelerator and actuator,
It is used for monitoring the torque size during rehabilitation exercise, encoder can be detected and feed back the anglec of rotation of motor, to rehabilitation course
Carry out position limitation protection.
The dynamical system includes：Motor, and its adnexa；It is electric that motor can adopt (being not limited to) planetary gear to slow down
Machine.
The input-output equipment includes：Display and hand held controller.Wherein, display is used for showing rehabilitation training
Various data in journey；Hand held controller is used for selecting the motor pattern of rehabilitation training and adjustment range of movement and movement velocity
Deng；Rehabilitation exercise pattern includes to manually adjust and two kinds of automatic running.
More detailed explanation is done to the present invention with reference to specific embodiment.
As shown in figure 1, this half ectoskeleton upper limb recovery instrument is placed on level ground, adjust to initial position：Will be aobvious
Display screen 6 is placed in front of seat；Make patient face display screen 6 to be sitting on seat 7；Adjustment 1 position of base and 201 corner of armstand make
Movable body is located at patient side, and then adjustment forearm gripper shoe 401 is tightened screw 402 and fixed to 6 direction of display screen is pointed to；Adjust
7 height of bed rearrangement chair, makes the rotation centerline of 204 output shaft of planetary gear reducing motor through patient's shoulder joint center of rotation (level
Direction)；Patient itself adjusts sitting posture, makes 107 (see Fig. 3) output shaft rotation centerline of planetary gear reducing motor through patient's shoulder joint
Section center of rotation (vertical direction)；Trip bolt 303 is unclamped, mobile slide block 307, to adapt to the length of patient's upper limb upper arm, make
The center of rotation of 406 output shaft of planetary gear reducing motor tightens trip bolt 303 through the elbow joint center of rotation of patient, and
The now corresponding scale of slide block upper limb is recorded, when facilitating patient's rehabilitation training next time, is adjusted (see Fig. 6)；Flexible-belt is finally used
Patient's upper forearm is fixed in forearm gripper shoe 401.Now the corner of the anteflexion or abduction of upper arm is all regarded as 0 °.
The flexion/extension passive exercise of shoulder joint is carried out, presses the reset button on hand held controller 5 first, control movable body
Adjustment returns to initial position (as shown in Figure 1).Now, the equal transfixion of remaining motor, control system control planetary gear slows down electric
The certain angle of 204 reciprocating rotation of machine (angle is determined according to the rehabilitation outcome of patient by doctor).204 output shaft of motor past
Multiple rotation drives large arm 3 and forearm 4 to move, and so that patient's upper limb is rotated around the center of rotation of shoulder joint, realizes shoulder joint flexion/extension fortune
Dynamic.
The abduction/adduction passive exercise of shoulder joint is carried out, presses the reset button on hand held controller 5, control fortune first
Kinetoplast adjustment returns to initial position (as shown in Figure 1).Now, remaining motor transfixion, control system control planetary gear deceleration
Motor 204 rotates 90 ° and drives large arm 3 to make patient's upper arm be raised up to level, then 204 self-locking of motor；Control system control row
Star-wheel reducing motor 107 (see Fig. 3) drives armstand, and towards patient, direction turns over 90 ° after one's death, makes patient's upper arm level be expanded to body side,
Now the output shaft centre line of planetary gear reducing motor 204 passes through shoulder joint center of rotation after one's death from patient, then motor 107 from
Lock；(angle is by doctor according to the rehabilitation water of patient for 204 reciprocating rotation certain angle of control system control planetary gear reducing motor
Flat determination), driving the large arm 3 of instrument and forearm 4 to move by motor output shaft reciprocating rotation, patient's upper limb is made around scapula
Center of rotation rotate, realize shoulder joint abduction/adduction motion.
Outward turning/inward turning the passive exercise of shoulder joint is carried out, presses the reset button on hand held controller 5, control fortune first
Kinetoplast adjustment returns to initial position (as shown in Figure 1).Now, remaining motor transfixion, control system control planetary gear deceleration
107 reciprocating rotation certain angle of motor (angle is determined according to the rehabilitation outcome of patient by doctor).Motor output shaft reciprocal
Rotate and drive armstand 201, large arm 3 and forearm 4 to move, so that patient's upper limb is rotated around scapula center of rotation, realize shoulder joint
Outward turning/inward turning motion.
The flexion/extension passive exercise of elbow joint is carried out, presses the reset button on hand held controller 5 first, control movable body
Adjustment returns to initial position (as shown in Figure 1), now, remaining motor transfixion, control system controls planetary gear reducing motor
406 (see Fig. 6) back and forth turn over certain angle (angle is determined according to the rehabilitation outcome of patient by doctor).Motor output shaft past
Multiple rotation drives forearm gripper shoe 401 so that patient's upper forearm is rotated around elbow joint, realizes the motion of elbow joint flexion/extension.
As shown in Fig. 2 this half ectoskeleton upper limb recovery instrument is placed on level ground, adjust to initial position：Will be aobvious
Display screen 6 is placed in 7 front of seat；Make patient face display screen 6 to be sitting on seat 7；Adjustment 1 position of base and 202 corner of connecting lever
Instrument movable body is made to be located at patient side, then adjustment forearm gripper shoe 401 is tightened screw and entered to 6 direction of display screen is pointed to
Row is fixed；Adjustment 7 position of seat simultaneously allows patient itself adjust sitting posture, makes 205 output shaft rotation centerline of planetary gear reducing motor
Through patient's shoulder joint center of rotation (vertical direction)；7 height of adjustment seat, makes the rotation of 204 output shaft of planetary gear reducing motor
Turn centrage through patient's shoulder joint center of rotation (horizontal direction)；Trip bolt 303 is unclamped, mobile slide block 307, to adapt to suffer from
The length of person's upper limb upper arm, and make the elbow joint of the center of rotation of 406 output shaft of planetary gear reducing motor (see Fig. 6) through patient
Center of rotation, tightens trip bolt 303 and fixes, and records the now corresponding scale value of slide block upper limb, facilitates patient's rehabilitation next time
It is adjusted during training；Finally with flexible-belt, patient forearm is fixed in forearm gripper shoe 401.The now anteflexion or abduction of upper arm
Corner be all regarded as 0 °.
The flexion/extension passive exercise of shoulder joint is carried out, presses the reset button on hand held controller 5 first, control movable body
Adjustment returns to initial position (as shown in Figure 2).Now, the equal transfixion of remaining motor, control system control planetary gear slows down electric
The certain angle of 204 reciprocating rotation of machine (angle is determined according to the rehabilitation outcome of patient by doctor).Motor output shaft reciprocal
Rotate and drive large arm 3 and forearm 4 to move, so that patient's upper limb is rotated around the center of rotation of shoulder joint, realize shoulder joint flexion/extension fortune
Dynamic.
The abduction/adduction passive exercise of shoulder joint is carried out, presses the reset button on hand held controller 5, control fortune first
Kinetoplast adjustment returns to initial position (as shown in Figure 2).Now, the equal transfixion of remaining motor, control system control planetary gear subtracts
Speed motor 204 rotates 90 ° makes patient's upper arm be raised up to horizontal level, then 204 self-locking of motor；Control system control planetary gear subtracts
Speed motor 205 rotates drive connecting lever, and towards patient, direction turns over 90 ° after one's death, makes patient's upper arm level be expanded to body side.Now planet
The output shaft centre line of wheel reducing motor 204 passes through shoulder joint center of rotation, then 205 self-locking of motor after one's death from patient；Control
System control planetary gear slows down electric 204 reciprocating rotation certain angle (angle is determined according to the rehabilitation outcome of patient) by doctor,
Driving the large arm 3 of instrument and forearm 4 to move by motor output shaft reciprocating rotation, patient's upper limb is made in the rotation of scapula
The heart is rotated, and realizes the abduction/adduction motion of shoulder joint.
Outward turning/inward turning the passive exercise of shoulder joint is carried out, presses the reset button on hand held controller 5, control fortune first
Kinetoplast adjustment returns to initial position (as shown in Figure 2), now, the equal transfixion of remaining motor, control system control planetary gear subtracts
205 reciprocating rotation certain angle of speed motor (angle is determined according to the rehabilitation outcome of patient by doctor).Motor output shaft past
Multiple rotation drives connecting lever 202, large arm 3 and forearm 4 to move, and so that patient's upper limb is rotated around scapula center of rotation, realizes shoulder joint
Outward turning/inward turning motion.
The flexion/extension passive exercise of elbow joint is carried out, presses the reset button on hand held controller 5 first, control movable body
Adjustment returns to initial position (as shown in Figure 2), now, the equal transfixion of remaining motor, control system control planetary gear slows down electric
Machine 406 back and forth turns over certain angle (angle is determined according to the rehabilitation outcome of patient by doctor).The reciprocating rotary of motor output shaft
Dynamic drive forearm gripper shoe 401 makes patient's upper forearm rotate around elbow joint, realizes the motion of elbow joint flexion/extension.
If the both sides upper limb of patient all occurs illness, when needing to carry out rehabilitation to both sides upper limb, can treat on side
After limb has carried out a rehabilitation, instrument is moved to the opposite side of patient, and forearm gripper shoe 401 is rotated after 180 °
Fixing, you can to carry out the rehabilitation training of opposite side upper limb.
Above the specific embodiment of the present invention is described.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make a variety of changes within the scope of the claims or change, this not shadow
Ring the flesh and blood of the present invention.In the case of not conflicting, feature in embodiments herein and embodiment can any phase
Mutually combine.
Claims (10)
1. a kind of half ectoskeleton upper limb recovery instrument, it is characterised in that include：Base, control system, dynamical system, input and output
Equipment, half ectoskeleton upper limb recovery instrument also includes the first movement combination or the second movement combination；Wherein：
The base is used for placing dynamical system and providing to control system, input-output equipment, and to the first movement combination
Or second movement combination support；
The control system is used for being managed the training data of instrument collection；
The dynamical system is used for providing driving energy to the first movement combination or the second movement combination；
The input-output equipment is used for being input into the training directive of user, and shows the data for generating in training process；
First movement combination or the second movement combination are used for coordinating user to complete upper extremity exercise.
2. half ectoskeleton upper limb recovery instrument according to claim 1, it is characterised in that also include seat, the seat is
Height-adjustable chair.
3. half ectoskeleton upper limb recovery instrument according to claim 1 and 2, it is characterised in that the base includes：Base member case
Body, electric machine support and bearing and native processor bearing, the universal wheel with self-locking mechanism is installed in the base cabinet bottom,
Top is provided with armstand rotating shaft axis hole, and the electric machine support, bearing and native processor bearing are internal described installed in base cabinet
Armstand motor is installed on motor support base.
4. half ectoskeleton upper limb recovery instrument according to claim 3, it is characterised in that first movement combination includes：
Armstand, large arm and forearm, one end of the armstand is provided with pivot structure, and the pivot structure is by shaft coupling and base
Armstand motor be connected, the other end of the armstand is provided with large arm rotating shaft axis hole and motor support base, on the motor support base
Large arm motor is installed, described large arm one end is provided with pivot structure, the pivot structure is by shaft coupling and armstand
Large arm motor is connected, and the other end of the large arm is provided with motor support base, installs forearm and drive electricity on the motor support base
Machine, described forearm one end is provided with pivot structure, and the pivot structure is connected with the forearm motor in large arm by shaft coupling.
5. half ectoskeleton upper limb recovery instrument according to claim 1 and 2, it is characterised in that the base includes：Base member case
Body, support and native processor bearing, the universal wheel with self-locking mechanism is installed in the base cabinet bottom, and top is provided with props up
The installation and positioning structure of frame, the native processor bearing is inside base cabinet；One end of the support passes through flange
Installed in base cabinet top, the other end is provided with crank arm rotary shaft axis hole and motor support base, installs connecting lever drive on the motor support base
Galvanic electricity machine.
6. half ectoskeleton upper limb recovery instrument according to claim 5, it is characterised in that second movement combination includes：
Connecting lever, large arm and forearm, one end of the connecting lever is provided with pivot structure, and the pivot structure is by shaft coupling and support
Connecting lever motor is connected, and the other end of the connecting lever is provided with large arm rotating shaft axis hole and motor support base, on the motor support base
Large arm motor is installed, described large arm one end is provided with pivot structure, the pivot structure is by big on shaft coupling and connecting lever
Arm motor is connected, and the other end of the large arm is provided with motor support base, installs forearm motor on the motor support base；Institute
The pivot structure that is provided with of forearm one end is stated, the pivot structure is connected with the forearm motor in large arm by shaft coupling.
7. half ectoskeleton upper limb recovery instrument according to claim 4 or 6, it is characterised in that be additionally provided with the large arm
Human body upper arm lengths adjustment mechanism, the human body upper arm lengths governor motion includes：Four support members, two slide bars and cunning
Block；Wherein, four support members are arranged in large arm, and support member is provided with fluting, and two slide bars are fixed on by trip bolt
On support member；Slide block is fixed on slide bar by trip bolt, and the side of slide block is provided with fluting；Forearm motor support is pacified
It is mounted on slide block.
8. half ectoskeleton upper limb recovery instrument according to claim 4 or 6, it is characterised in that be additionally provided with people on the forearm
Body forearm fixing device, the human body forearm fixing device is used for for human upper limb forearm being fixed on forearm, fixed form bag
Include：Flexible-belt.
9. half ectoskeleton upper limb recovery instrument according to claim 1, it is characterised in that the control system includes：Remotely
Computer, native processor, sensor；Specifically,
The remote computer is used for being managed the personal information of user, sets up the training progress for each user；
The native processor is used for for user training the data storage for generating and sends to remote computer, in base
On portion's bearing；
The sensor includes：Encoder and torque sensor, the torque that square sensor is used for monitoring during rehabilitation exercise is big
Little, encoder is used for detecting and feeding back the anglec of rotation of dynamical system motor.
10. half ectoskeleton upper limb recovery instrument according to claim 1, it is characterised in that the dynamical system includes：Drive
Motor and related accessory；The input-output equipment includes：Display and hand held controller, display is used for showing rehabilitation training
During generate data；Hand held controller is used for selecting the motor pattern of rehabilitation training and adjustment range of movement and motion speed
Degree, the motor pattern of wherein rehabilitation training includes：Manually adjust pattern and automatic running pattern.
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| CN108078733A (en) * | 2017-11-17 | 2018-05-29 | 中国科学院宁波材料技术与工程研究所 | For slowing down the training device and method of disturbances in patients with Parkinson disease upper limb tremor and myotonia |
| CN108210249A (en) * | 2018-01-23 | 2018-06-29 | 陈恩格 | A kind of disabled person's arm strength restorer |
| CN108814894A (en) * | 2018-04-12 | 2018-11-16 | 山东大学 | The upper limb rehabilitation robot system and application method of view-based access control model human body pose detection |
| CN109106531A (en) * | 2018-08-14 | 2019-01-01 | 温州医科大学附属第二医院、温州医科大学附属育英儿童医院 | A kind of multi-joint synkinesia bed |
| CN109568082A (en) * | 2018-12-11 | 2019-04-05 | 上海大学 | A kind of upper-limbs rehabilitation training robot and rehabilitation training of upper limbs method |
| CN109620631A (en) * | 2017-10-09 | 2019-04-16 | 李卫国 | A kind of bionical automatic control rehabilitation arm |
| CN109692104A (en) * | 2019-02-13 | 2019-04-30 | 中国工程物理研究院总体工程研究所 | Medical rehabilitation ectoskeleton interactive mode synchronous control system and method |
| CN110801239A (en) * | 2019-11-20 | 2020-02-18 | 上海交通大学 | Upper limb multi-joint constant speed training testing device |
| CN111544251A (en) * | 2019-07-08 | 2020-08-18 | 华中科技大学同济医学院附属协和医院 | Multifunctional upper limb passive exercise rehabilitation instrument |
| CN111631905A (en) * | 2020-05-28 | 2020-09-08 | 湖北工业大学 | Unilateral upper limb rehabilitation robot under FMRI environment |
| CN112294594A (en) * | 2020-01-15 | 2021-02-02 | 南通市第一人民医院 | Upper limb rehabilitation training device convenient for adjusting swing arm track |
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| CN110801239B (en) * | 2019-11-20 | 2022-06-17 | 上海交通大学 | Upper limb multi-joint constant speed training testing device |
| CN112294594A (en) * | 2020-01-15 | 2021-02-02 | 南通市第一人民医院 | Upper limb rehabilitation training device convenient for adjusting swing arm track |
| CN111631905A (en) * | 2020-05-28 | 2020-09-08 | 湖北工业大学 | Unilateral upper limb rehabilitation robot under FMRI environment |
| CN113081660A (en) * | 2021-03-09 | 2021-07-09 | 南通翔昇人工智能科技有限公司 | Rehabilitation training robot and control method |
| CN113509352A (en) * | 2021-05-24 | 2021-10-19 | 东南大学 | Method and system for calibrating and calculating kinematic parameters of rope rehabilitation robot |
| CN113509352B (en) * | 2021-05-24 | 2022-09-30 | 东南大学 | Method and system for calibrating and calculating kinematic parameters of rope rehabilitation robot |
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