CN106420261B - Semi-exoskeleton upper limb rehabilitation instrument - Google Patents

Semi-exoskeleton upper limb rehabilitation instrument Download PDF

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Publication number
CN106420261B
CN106420261B CN201610916073.4A CN201610916073A CN106420261B CN 106420261 B CN106420261 B CN 106420261B CN 201610916073 A CN201610916073 A CN 201610916073A CN 106420261 B CN106420261 B CN 106420261B
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arm
patient
upper limb
motion
motor
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CN106420261A (en
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于随然
赵金忠
陶璟
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Shanghai Jiaotong University
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Shanghai Jiaotong University
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0218Drawing-out devices
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01Constructive details
    • A61H2201/0119Support for the device
    • A61H2201/0138Support for the device incorporated in furniture
    • A61H2201/0149Seat or chair
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12Driving means
    • A61H2201/1207Driving means with electric or magnetic drive
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1602Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1614Shoulder, e.g. for neck stretching
    • A61H2201/1616Holding means therefor
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1602Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635Hand or arm, e.g. handle
    • A61H2201/1638Holding means therefor
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50Control means thereof
    • A61H2201/5007Control means thereof computer controlled
    • A61H2201/501Control means thereof computer controlled connected to external computer devices or networks
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2205/00Devices for specific parts of the body
    • A61H2205/06Arms
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2205/00Devices for specific parts of the body
    • A61H2205/06Arms
    • A61H2205/062Shoulders

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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 a semi-exoskeleton upper limb rehabilitation instrument, which comprises: the device comprises a base, a control system, a power system, an input and output device and a first motion combination or a second motion combination; the base is used for placing the power system and providing support for the control system, the input and output equipment and the first motion combination or the second motion combination; the control system is used for managing the training data collected by the rehabilitation instrument; the power system is used for providing driving energy for the first motion combination or the second motion combination; the input and output equipment is used for inputting a training instruction of a user and displaying data generated in the training process; the first motion combination or the second motion combination is used for matching the user to complete the upper limb motion. The invention can avoid the deviation of the motion track and the pose of the motion body of the rehabilitation instrument and the human body (upper limb), effectively avoid the secondary injury of the patient in the rehabilitation training process, improve the safety and the effectiveness of the rehabilitation motion, and has convenient operation and various motion modes.

Description

Semi-exoskeleton upper limb rehabilitation instrument
Technical Field
The invention relates to the field of medical instruments, in particular to a semi-exoskeleton upper limb rehabilitation instrument.
Background
Research shows that the motion performance of shoulder joints can be greatly improved by repeating rehabilitation training for patients after hemiplegia or orthopedic surgery. A large number of clinical trials have shown that rehabilitation training performed as early as possible after a hemiplegia or orthopaedic surgery can have beneficial effects in a short period. For hemiplegic patients, early rehabilitation training can promote the development of cerebral cortex motor nerve plasticity, promote the recombination and compensation of nerve tissues of diseased parts, improve the excitability and the response capacity to external stimulation of related nervous systems, and is favorable for recovering the motor function as early as possible, maintaining the activity of corresponding joints and improving the motor coordination capacity; for orthopedic patients, early rehabilitation training can effectively prevent complications such as muscular atrophy, osteoporosis and spasm.
The traditional upper limb rehabilitation training adopts one-to-one rehabilitation training of a physical therapist and a patient. Firstly, the number of the existing physical therapists in China is limited, and the increasing one-to-one rehabilitation training requirement cannot be met. The lack of supply and demand of physiotherapists further causes the dilemma of high recovery cost of patients; secondly, because of uncertainty of a physical therapist, the consistency of the rehabilitation training strength and the strength cannot be fully ensured; the rehabilitation training effect depends on the experience and professional level of a physical therapist to a great extent, and the training effectiveness cannot be ensured. Domestic and foreign researches show that the best method for upper limb rehabilitation training at present is to utilize an external device to carry out non-load and non-gravity passive movement on the upper limb of a patient as soon as possible. With the development of science and technology, medical robot technology is rapidly developed. The rehabilitation instrument is a new application of the robot technology in the rehabilitation medical aspect. The robot has no fatigue problem, can work all day long, and can meet the training intensity requirements of different patients, thereby being beneficial to improving the rehabilitation quality and the rehabilitation efficiency of the patients.
Most of the existing upper limb rehabilitation instruments are of an exoskeleton type, namely: the upper arm and the forearm of the human body are respectively fixed on the machine part, and the specific upper limb motions required by rehabilitation training are realized by driving the rotating shaft arranged beside the shoulder joint. The rehabilitation instrument with the structure is easy to realize the function and convenient to control, but the rotation center of the shoulder joint of the human body is not coincident with the rotation center of the rehabilitation instrument mechanism, so that the separation distance between the arm and the bracket is overlarge in the movement process; the connection of the small arm and the bracket is influenced by the forward and backward movement of the upper arm and the bracket; and the flexible fixing belt between the arm and the bracket is over-stretched, so that the defect of extra acting force is generated. Some products meet the condition that the rotating center of the shoulder joint of the human body coincides with the rotating center of a machine, but the training effect is not ideal due to the defect of the upper limb fixing mode. Most of the existing products can only carry out rehabilitation training on the upper limb of one side of a patient, and are often complex and heavy in structure and insufficient in adaptability to different patient disease conditions.
Chinese patent publication No.: CN102309393A, name: the exoskeleton type upper limb rehabilitation robot comprises a five-degree-of-freedom or three-degree-of-freedom mechanical arm, an auxiliary mechanism and a control system. The mechanical structure of the invention is relatively complex. Although the rotation center of the shoulder joint of the human body can be ensured to be coincident with the rotation center of the machine, the fixing mode of the upper arm and the forearm of the upper limb of the patient can increase the load on the muscle of the upper limb of the patient, so that the discomfort of the patient is caused, and the effect of the upper limb rehabilitation robot in the internal rotation/external rotation movement of the shoulder joint is not obvious. Moreover, the rehabilitation training device can only perform rehabilitation training on the upper limb of one side of the patient singly. If the rehabilitation training is carried out on the upper limbs on the two sides of the patient alternately, two rehabilitation training robots need to be equipped.
Chinese patent publication No.: CN102379793A, name: the utility model provides an upper limbs rehabilitation training robot, includes the I joint, II joint, III joint, IV joint and the V joint, and 5 joints form major structure in proper order in series. The invention has more complex mechanical structure, fixes the upper arm and forearm of the upper limb of the patient and increases the load on the muscle of the upper limb of the patient. Because the rotation postures of the upper arm and the forearm are complex and the synchronism is difficult to control, extra burden and secondary injury are easily caused to a patient during rehabilitation training. Moreover, the rehabilitation training device can only perform rehabilitation training on the upper limb of one side of the patient singly. If the rehabilitation training is carried out on the upper limbs on the two sides of the patient alternately, two rehabilitation training robots need to be equipped.
In addition, most of the current patents or products place one of the rotation axes of the rehabilitation robot at a position relatively close to the shoulder joint of the patient. Such a structural arrangement presents a safety hazard: some parts are relatively close to the human body, and the patient can collide with the parts when the patient carelessly feels less during the rehabilitation training process.
In summary, some existing upper limb rehabilitation instruments cannot completely realize the actions required by rehabilitation training, or the effect of realizing the actions is poor, so that the potential danger of secondary injury exists, or the instrument structure is complex, the product price is high, so that the rehabilitation training cost is high and the rehabilitation training is difficult to be accepted by the general public.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a semi-exoskeleton upper limb rehabilitation instrument.
The invention provides a semi-exoskeleton upper limb rehabilitation instrument, which comprises: the exoskeleton upper limb rehabilitation instrument comprises a base, a control system, a power system, an input and output device and a first motion combination or a second motion combination; wherein:
the base is used for placing a power system and providing support for the control system, the input and output equipment and the first motion combination or the second motion combination;
the control system is used for managing training data acquired by the rehabilitation instrument;
the power system is used for providing driving energy for the first motion combination or the second motion combination;
the input and output equipment is used for inputting a training instruction of a user and displaying data generated in the training process;
the first motion combination or the second motion combination is used for matching the user to complete the upper limb motion.
Preferably, a seat is further included, the seat being a height adjustable seat.
Preferably, the base includes: base box, motor support and local processor support, the universal wheel that has self-locking mechanism is installed to base bottom half, and upper portion is equipped with and founds arm pivot shaft hole, motor support, support and local processor support mounting are inside the base box the last installation of motor support founds arm driving motor. 4. The semi-exoskeleton upper limb rehabilitation apparatus of claim 3 wherein the first combination of motions comprises: found arm, big arm and forearm, the one end of founding the arm is provided with the pivot structure, the pivot structure passes through the shaft coupling and links to each other with the interior perpendicular arm driving motor of base, the other end of founding the arm is equipped with big arm pivot shaft hole and motor support, install big arm driving motor on the motor support, big arm one end is equipped with the pivot structure, the pivot structure passes through the shaft coupling and links to each other with the big arm driving motor who found on the arm, the other end of big arm is provided with the motor support, install forearm driving motor on the motor support, forearm one end is equipped with the pivot structure, the pivot structure passes through the shaft coupling and links to each other with the forearm driving motor who goes up on the big arm.
Preferably, the base includes: the device comprises a base box body, a support and a local processor support, wherein universal wheels with self-locking mechanisms are mounted at the bottom of the base box body, a mounting and positioning structure of the support is arranged at the upper part of the base box body, and the local processor support is mounted inside the base box body; one end of the support is installed on the upper portion of the base box body through a flange, a crank arm rotating shaft hole and a motor support are formed in the other end of the support, and a crank arm driving motor is installed on the motor support.
Preferably, the second motion combination comprises: the device comprises a crank arm, a large arm and a small arm, wherein one end of the crank arm is provided with a rotating shaft structure, the rotating shaft structure is connected with a crank arm driving motor on a support through a coupler, the other end of the crank arm is provided with a large arm rotating shaft hole and a motor support, the large arm driving motor is installed on the motor support, one end of the large arm is provided with a rotating shaft structure, the rotating shaft structure is connected with the large arm driving motor on the crank arm through the coupler, the other end of the large arm is provided with a motor support, and the small arm driving motor is installed on the motor support; and a rotating shaft structure is arranged at one end of the small arm and is connected with a small arm driving motor on the large arm through a coupler.
Preferably, the big arm is further provided with a human upper arm length adjusting mechanism, and the human upper arm length adjusting mechanism comprises: the four supporting pieces, the two sliding rods and the sliding block; the four supporting pieces are arranged on the large arm, the supporting pieces are provided with slots, and the two sliding rods are fixed on the supporting pieces through fastening screws; the sliding block is fixed on the sliding rod through a fastening screw, and one side of the sliding block is provided with a slot; the small arm driving motor bracket is arranged on the sliding block.
Preferably, still be equipped with human forearm fixing device on the forearm, human forearm fixing device is used for fixing human upper limbs forearm on the forearm, and fixed mode includes: a flexible band.
Preferably, the control system comprises: remote computer, local processor, sensor; in particular, the amount of the solvent to be used,
the remote computer is used for managing personal information of the users and establishing a training progress aiming at each user;
the local processor is used for storing and sending data generated by user training to a remote computer and is arranged on a support inside the base;
the sensor includes: the device comprises an encoder and a torque sensor, wherein the torque sensor is used for monitoring the torque in the rehabilitation exercise process, and the encoder is used for detecting and feeding back the rotation angle of a motor of a power system.
Preferably, the power system comprises: a drive motor and related accessories; the input-output device includes: the display is used for displaying data generated in the rehabilitation training process; the handheld controller is used for selecting a motion mode of rehabilitation training and adjusting a motion range and a motion speed, wherein the motion mode of the rehabilitation training comprises the following steps: a manual adjustment mode and an automatic operation mode.
Compared with the prior art, the invention has the following beneficial effects:
1. the semi-exoskeleton upper limb rehabilitation instrument provided by the invention can follow the principle that the instrument coincides with the rotation center of the human body joint, so that the deviation of the motion track and the pose of the motion body of the rehabilitation instrument and the human body (upper limb) is avoided, the secondary injury of a patient in the rehabilitation training process is effectively avoided, and the safety and the effectiveness of rehabilitation motion are improved.
2. The semi-exoskeleton upper limb rehabilitation instrument provided by the invention keeps the local adjustment freedom degree of the human posture, and improves the comfort level of rehabilitation training; the simple mechanical structure is adopted to realize various rehabilitation training exercises, the rotational freedom degree of the shoulder joint motion is only two, but three basic motions of the shoulder joint, the flexion/extension motion of the elbow joint and other forms of compound motions of a patient can be realized.
3. The semi-exoskeleton upper limb rehabilitation instrument provided by the invention can quickly realize alternate rehabilitation training of the left upper limb and the right upper limb of a human body; the instrument is convenient to operate, has various motion modes, can be manually adjusted, and can also automatically run; through remote monitoring, a rehabilitation training plan is formulated according to the rehabilitation training progress of the personal account of the patient, the rehabilitation movement speed and the rehabilitation movement range are adjusted, and the improvement of the rehabilitation training effect is facilitated.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic structural diagram of a semi-exoskeleton upper limb rehabilitation instrument adopting a first motion combination;
fig. 2 is a schematic structural diagram of the semi-exoskeleton upper limb rehabilitation instrument when a second motion combination is adopted;
FIG. 3 is a schematic structural view of a base;
FIG. 4 is a schematic view of a first motion set;
FIG. 5 is a schematic diagram of a second motion set;
FIG. 6 is a schematic view showing the overall structure of the large arm and the small arm according to the present invention;
FIG. 7 is a schematic view of the structure of the forearm of the present invention;
FIG. 8 is a functional block diagram of a control system of the present invention;
in the figure:
1-a base;
101-universal wheels;
102-a base box;
103-a motor support;
104-a motor support;
105-a vertical arm drive shaft;
106-a coupling;
107-vertical arm planet gear speed reducing motor;
201-standing arm;
202-crank arm;
203-a scaffold;
204-big arm planet gear speed reducing motor;
205-crank arm planet gear speed reducing motor;
3-big arm;
301-large arm drive shaft;
302-a support;
303-a fastening screw;
304-groove;
305-a slide bar;
306-scale;
307-a slide block;
4-forearm;
401-forearm support plate;
402-flange shaft;
403-screws with handwheels;
404-a threaded hole;
405-forearm adjusting support;
406-small arm planet gear speed reducing motor
407-small arm motor coupling
5-a handheld controller;
6-a display screen;
7-a seat;
8-a processor module.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
According to the semi-exoskeleton upper limb rehabilitation instrument provided by the invention, four basic actions of upper limb rehabilitation training and rehabilitation training movement based on basic action combination are realized by controlling two rotational degrees of freedom of shoulder joints and controlling one rotational degree of freedom of elbow joint movement; the rotation centers of the shoulder and elbow joint control mechanisms are coincided with the rotation centers of the shoulders and elbow joints of the human body, so that the deviation of the motion track and the pose of the motion body of the rehabilitation instrument and the motion track and the pose of the human body (upper limbs) are avoided, and the comfort, the safety and the effectiveness of the rehabilitation motion are improved; the forearm of the upper limb of the patient is fixed with a moving body of the rehabilitation instrument, and a controllable vector of the spatial movement of the upper limb is established; the control of the spatial motion track and the pose of the upper limb is realized by controlling the forearm vector; the upper arm of the human body is not fixed with the rehabilitation mechanical motion body, so that the human body can locally adjust the postures of the shoulder joint and the upper arm according to the physiological condition of the human body; by keeping the degree of freedom of the forearm of the upper limb in pronation and supination, the patient can naturally rotate the upper limb when doing passive exercises such as flexion/extension, abduction/adduction and the like of the straight arm shoulder joint, thereby reducing the uncomfortable feeling and the improper load in the recovery training; the aim of personalized upper limb rehabilitation training is achieved by combining the local preset movement and the remote medical monitoring movement of the rehabilitation instrument.
The invention provides a semi-exoskeleton upper limb rehabilitation instrument which comprises: the device comprises a base, a control system, a power system, an input and output device and a first motion combination or a second motion combination; wherein:
the base is used for placing the power system and providing support for the input and output equipment of the control system and the first motion combination or the second motion combination;
the control system is used for managing the data acquired by the rehabilitation instrument;
the power system is used for providing driving energy for the first motion combination or the second motion combination;
the input and output equipment is used for inputting a training instruction of a user and displaying data generated in the training process;
the first motion combination or the second motion combination is used for matching the user to complete the upper limb motion.
Also comprises a chair, wherein the chair is a height adjustable chair, so that the shoulder height of a patient can be adjusted.
The first scheme is as follows: the base includes: base box, motor support and local processor support, the universal wheel that has self-locking mechanism is installed to base bottom half, and upper portion is equipped with found arm pivot shaft hole, motor support and local processor support mounting are inside the base box, the last arm driving motor that founds that is equipped with of motor support. The base can realize the overall movement of the rehabilitation instrument and the relative position adjustment of the rehabilitation instrument and the human body (such as the position adjustment during the training of the left upper limb and the right upper limb).
The first motion combination comprises: the device comprises a vertical arm, a big arm and a small arm, wherein one end of the vertical arm is provided with a rotating shaft structure, the rotating shaft structure is connected with a vertical arm driving motor in a base through a coupler, the other end of the vertical arm is provided with a large arm rotating shaft hole and a motor support, the motor support is provided with a large arm driving motor, one end of the big arm is provided with a rotating shaft structure, the rotating shaft structure is connected with a big arm driving motor on the vertical arm through a coupler, the other end of the big arm is provided with a motor support, a small arm driving motor is arranged on the motor support, one end of the small arm is provided with a rotating shaft structure, the rotating shaft structure is connected with a small arm driving motor on the big arm through a coupler, the vertical arm can rotate around a vertical shaft, the central line of the rotating shaft of the vertical arm can pass through the rotating center of the shoulder joint by adjusting the sitting posture of the patient, and the shoulder joint internal rotation/external rotation passive movement is realized by the rotation of the vertical arm.
Scheme II: the base includes: the device comprises a base box body, a support and a local processor support, wherein universal wheels with self-locking mechanisms are mounted at the bottom of the base box body, a mounting and positioning structure of the support is arranged at the upper part of the base box body, and the local processor support is mounted inside the base box body; one end of the support is installed on the upper portion of the base box body through a flange, a crank arm rotating shaft hole and a motor support are formed in the other end of the support, and a crank arm driving motor is installed on the motor support. The base can realize the overall movement of the rehabilitation instrument and the relative position adjustment of the rehabilitation instrument and the human body (such as the position adjustment during the training of the left upper limb and the right upper limb).
The second motion combination comprises: the device comprises a crank arm, a large arm and a small arm, wherein one end of the crank arm is provided with a rotating shaft structure, the rotating shaft structure is connected with a crank arm driving motor on a support through a coupler, the other end of the crank arm is provided with a large arm rotating shaft hole and a motor support, the large arm driving motor is installed on the motor support, one end of the large arm is provided with a rotating shaft structure, the rotating shaft structure is connected with the large arm driving motor on the crank arm through the coupler, the other end of the large arm is provided with a motor support, and the small arm driving motor is installed on the motor support; the utility model discloses a shoulder joint, including forearm, connecting rod, shoulder joint, connecting rod, the forearm one end be equipped with the pivot structure, the pivot structure passes through the shaft coupling and links to each other wherein with the forearm driving motor on the big arm, the connecting rod can rotate around vertical direction axle to the accessible adjustment patient's position of sitting makes connecting rod axis of rotation central line pass through shoulder joint center of rotation, rotates through the connecting rod and drives patient's upper limbs motion, realizes shoulder joint internal rotation/.
The upper arm is also provided with a human upper arm length adjusting mechanism to adapt to the upper arm lengths of different patients; human upper arm length adjustment mechanism includes: the four supporting pieces, the two sliding rods and the sliding block; the four supporting pieces are arranged on the large arm, the supporting pieces are provided with slots, and the two sliding rods are fixed on the supporting pieces through fastening screws; the sliding block is fixed on the sliding rod through a fastening screw, and one side of the sliding block is provided with a slot; the small arm driving motor bracket is arranged on the sliding block. The big arm can rotate around a horizontal direction shaft, the central line of the big arm rotating shaft can pass through the shoulder joint rotating center by adjusting the sitting height of a patient, and the shoulder joint flexion/extension and abduction/adduction passive movement can be realized by the rotation of the big arm.
Still be equipped with human forearm fixing device on the forearm, human forearm fixing device is used for fixing human upper limbs forearm on the forearm, and fixed mode includes: a flexible band. The small arm can rotate around a horizontal shaft, and the central line of the rotating shaft of the small arm can pass through the rotating center of the elbow joint of the patient by operating the upper arm length adjusting mechanism on the large arm, so that the flexion/extension passive motion of the elbow joint is realized by the rotation of the small arm.
The control system includes: remote computer, local processor, sensor. Specifically, the remote computer can manage personal information of the patient, namely, a personal information account of the patient is established and the rehabilitation training progress is recorded, so that a doctor can conveniently perform targeted rehabilitation training on each patient; the local processor is used for controlling a moving body of the rehabilitation instrument and storing and sending patient training information; the sensor mainly comprises an encoder and a torque sensor, wherein the torque sensor is installed between the speed reducer and the executing mechanism and used for monitoring the torque in the rehabilitation movement process, and the encoder can detect and feed back the rotation angle of the motor to perform limiting protection on the rehabilitation process.
The power system comprises: a drive motor, and accessories therefor; the driving motor can adopt (but is not limited to) a planetary gear speed reduction motor.
The input-output device includes: a display and a handheld controller. The display is used for displaying various data in the rehabilitation training process; the handheld controller is used for selecting a motion mode of rehabilitation training, adjusting a motion range, a motion speed and the like; the rehabilitation motion mode comprises manual adjustment and automatic operation.
The present invention will be described in more detail with reference to specific examples.
As shown in fig. 1, the semi-exoskeleton upper limb rehabilitation instrument is placed on a horizontal ground and adjusted to an initial position: the display screen 6 is arranged in front of the seat; the patient is seated in the chair 7 against the display screen 6; adjusting the position of the base 1 and the rotation angle of the vertical arm 201 to enable the moving body to be positioned on the side of a patient body, adjusting the forearm support plate 401 to point to the direction of the display screen 6, and then screwing the screw 402 for fixing; the height of the chair 7 is adjusted, so that the rotation center line of the output shaft of the large-arm planet gear speed reducing motor 204 passes through the rotation center (horizontal direction) of the shoulder joint of the patient; the patient adjusts the sitting posture, so that the rotation center line of the output shaft of the vertical arm planet gear speed reducing motor 107 (shown in figure 3) passes through the rotation center (vertical direction) of the shoulder joint of the patient; loosening the fastening screw 303, moving the sliding block 307 to adapt to the length of the upper arm of the upper limb of the patient, enabling the rotation center of the output shaft of the small-arm planet gear speed reducing motor 406 to penetrate through the rotation center of the elbow joint of the patient, screwing the fastening screw 303, and recording the scale corresponding to the upper edge of the sliding block at the moment, so that the adjustment is convenient for the patient to perform the next rehabilitation training (see fig. 6); finally, the forearm of the upper limb of the patient is fixed on the forearm support plate 401 by a flexible band. The angle of rotation of the upper arm in either the forward or outward flexion can be considered to be 0 deg..
The passive flexion/extension movement of the shoulder joint is performed by first pressing the zero-return button on the hand-held controller 5, which controls the moving body to adjust back to the initial position (as shown in fig. 1). At this time, the rest motors are all stationary, and the control system controls the planet wheel speed reduction motor 204 to rotate back and forth by a certain angle (the angle is determined by the doctor according to the rehabilitation level of the patient). The reciprocating rotation of the output shaft of the motor 204 drives the big arm 3 and the small arm 4 to move, so that the upper limb of the patient rotates around the rotation center of the shoulder joint, and the shoulder joint flexion/extension movement is realized.
The abduction/adduction passive movement of the shoulder joint is performed by first pressing the zero return button on the hand-held controller 5, controlling the moving body to adjust back to the initial position (as shown in fig. 1). At the moment, the rest motors are still, the control system controls the planet wheel speed reducing motor 204 to rotate by 90 degrees to drive the large arm 3 to lift the upper arm of the patient to be horizontal, and then the motor 204 is self-locked; the control system controls a planet gear speed reducing motor 107 (shown in figure 3) to drive the vertical arm to rotate 90 degrees towards the back of the body of the patient, so that the upper arm of the patient is horizontally unfolded to the body side, at the moment, the central line of an output shaft of a planet gear speed reducing motor 204 passes through the rotation center of the shoulder joint from the back of the body of the patient, and then the motor 107 is self-locked; the control system controls the planet gear speed reducing motor 204 to rotate in a reciprocating mode for a certain angle (the angle is determined by a doctor according to the rehabilitation level of a patient), and the large arm 3 and the small arm 4 of the rehabilitation instrument are driven to move through the reciprocating rotation of the motor output shaft, so that the upper limb of the patient rotates around the rotation center of the shoulder blade, and the abduction/adduction movement of the shoulder joint is achieved.
The passive external/internal rotation movement of the shoulder joint is performed by first pressing the zero-return button on the hand-held controller 5 to control the moving body to adjust back to the initial position (as shown in fig. 1). At this time, the rest motors are still, and the control system controls the planet wheel speed reduction motor 107 to rotate back and forth by a certain angle (the angle is determined by the doctor according to the rehabilitation level of the patient). The reciprocating rotation of the output shaft of the motor drives the vertical arm 201, the large arm 3 and the small arm 4 to move, so that the upper limb of the patient rotates around the rotation center of the scapula to realize the outward rotation/inward rotation of the shoulder joint.
The passive bending/extending motion of the elbow joint is carried out, firstly, a zero returning button on the handheld controller 5 is pressed, the moving body is controlled to be adjusted to return to the initial position (as shown in figure 1), at the moment, the rest motors are still, and the control system controls the planet gear speed reducing motor 406 (shown in figure 6) to rotate back and forth through a certain angle (the angle is determined by a doctor according to the rehabilitation level of a patient). The reciprocating rotation of the motor output shaft drives the forearm support plate 401 to rotate the forearm of the upper limb of the patient around the elbow joint, so that the elbow joint bending/stretching movement is realized.
As shown in fig. 2, the semi-exoskeleton upper limb rehabilitation instrument is placed on a horizontal ground and adjusted to an initial position: the display screen 6 is placed in front of the seat 7; the patient is seated in the chair 7 against the display screen 6; adjusting the position of the base 1 and the turning angle of the crank arm 202 to enable the motion body of the rehabilitation instrument to be positioned on the side of a patient body, adjusting the forearm support plate 401 to point to the direction of the display screen 6, and then screwing down the screw to fix the forearm support plate; the position of the chair 7 is adjusted, the sitting posture of the patient is adjusted, and the rotation center line of the output shaft of the crank arm planet wheel speed reducing motor 205 passes through the rotation center (vertical direction) of the shoulder joint of the patient; the height of the chair 7 is adjusted, so that the rotation center line of the output shaft of the large-arm planet gear speed reducing motor 204 passes through the rotation center (horizontal direction) of the shoulder joint of the patient; loosening the fastening screw 303, moving the sliding block 307 to adapt to the length of the upper arm of the upper limb of the patient, enabling the rotation center of an output shaft (shown in figure 6) of the small-arm planet gear speed reducing motor 406 to penetrate through the rotation center of the elbow joint of the patient, tightening the fastening screw 303 for fixation, and recording the scale value corresponding to the upper edge of the sliding block at the moment, so that the adjustment is convenient for the patient to perform the next rehabilitation training; the forearm of the patient is finally secured to the forearm support plate 401 by a flexible strap. The angle of rotation of the upper arm in either the forward or outward flexion can be considered to be 0 deg..
The passive flexion/extension movement of the shoulder joint is performed by first pressing the zero-return button on the hand-held controller 5, which controls the moving body to adjust back to the initial position (as shown in fig. 2). At this time, the rest motors are all stationary, and the control system controls the planet wheel speed reduction motor 204 to rotate back and forth by a certain angle (the angle is determined by the doctor according to the rehabilitation level of the patient). The reciprocating rotation of the output shaft of the motor drives the big arm 3 and the small arm 4 to move, so that the upper limb of the patient rotates around the rotation center of the shoulder joint, and the flexion/extension movement of the shoulder joint is realized.
The abduction/adduction passive movement of the shoulder joint is performed by first pressing the zero return button on the hand-held controller 5, controlling the moving body to adjust back to the initial position (as shown in fig. 2). At the moment, the rest motors are still, the control system controls the planet wheel speed reducing motor 204 to rotate by 90 degrees so that the upper arm of the patient is lifted to the horizontal position, and then the motor 204 is self-locked; the control system controls the planet gear speed reducing motor 205 to rotate to drive the crank arm to rotate 90 degrees towards the back direction of the patient, so that the upper arm of the patient horizontally expands to the side of the body. At the moment, the central line of the output shaft of the planet gear speed reducing motor 204 passes through the rotation center of the shoulder joint from the back of the patient, and then the motor 205 is self-locked; the control system controls the planet wheel deceleration motor 204 to rotate in a reciprocating mode for a certain angle (the angle is determined by a doctor according to the rehabilitation level of a patient), and the large arm 3 and the small arm 4 of the rehabilitation instrument are driven to move through the reciprocating rotation of the output shaft of the motor, so that the upper limb of the patient rotates around the rotation center of the shoulder blade, and the abduction/adduction movement of the shoulder joint is achieved.
The external rotation/internal rotation passive motion of the shoulder joint is performed, firstly, a zero returning button on the handheld controller 5 is pressed, the moving body is controlled to adjust to return to an initial position (as shown in fig. 2), at the moment, the rest motors are all static, and the control system controls the planet wheel speed reduction motor 205 to rotate in a reciprocating mode for a certain angle (the angle is determined by a doctor according to the rehabilitation level of a patient). The reciprocating rotation of the output shaft of the motor drives the crank arm 202, the large arm 3 and the small arm 4 to move, so that the upper limb of the patient rotates around the rotation center of the scapula to realize the outward rotation/inward rotation of the shoulder joint.
The passive bending/extending motion of the elbow joint is carried out, firstly, a zero returning button on the handheld controller 5 is pressed, the moving body is controlled to adjust to return to the initial position (as shown in figure 2), at the moment, the other motors are all static, and the control system controls the planet gear speed reducing motor 406 to rotate back and forth by a certain angle (the angle is determined by a doctor according to the rehabilitation level of a patient). The reciprocating rotation of the motor output shaft drives the forearm support plate 401 to rotate the forearm of the upper limb of the patient around the elbow joint, so that the elbow joint bending/stretching movement is realized.
If the upper limbs on both sides of the patient suffer from diseases, when the upper limbs on both sides need to be rehabilitated, the rehabilitation instrument can be moved to the other side of the patient after the upper limb on one side is rehabilitated for one time, and the forearm support plate 401 is rotated by 180 degrees and then fixed, so that rehabilitation training of the upper limb on the other side can be carried out.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims (6)

1. A semi-exoskeleton upper limb rehabilitation instrument is characterized by comprising: the exoskeleton upper limb rehabilitation instrument comprises a base, a control system, a power system, an input and output device and a first motion combination or a second motion combination; wherein:
the base is used for placing a power system and providing support for the control system, the input and output equipment and the first motion combination or the second motion combination;
the control system is used for managing training data acquired by the rehabilitation instrument;
the power system is used for providing driving energy for the first motion combination or the second motion combination;
the input and output equipment is used for inputting a training instruction of a user and displaying data generated in the training process;
the first motion combination or the second motion combination is used for matching the user to complete the motion of the upper limb;
wherein:
-the base comprises: the device comprises a base box body, a motor support, a first motor support and a local processor support, wherein universal wheels with self-locking mechanisms are mounted at the bottom of the base box body, vertical arm rotating shaft holes are formed in the upper part of the base box body, the motor support, the first motor support and the local processor support are mounted inside the base box body, and a vertical arm speed reduction motor is mounted on the first motor support; the first motion combination comprises: the large arm speed reducing device comprises a vertical arm, a large arm and a small arm, wherein one end of the vertical arm is provided with a first rotating shaft structure, the first rotating shaft structure is connected with a vertical arm speed reducing motor in a base through a first coupler, the other end of the vertical arm is provided with a large arm rotating shaft hole and a second motor support, the large arm speed reducing motor is mounted on the second motor support, one end of the large arm is provided with a second rotating shaft structure, the second rotating shaft structure is connected with the large arm speed reducing motor on the vertical arm through a second coupler, the other end of the large arm is provided with a third motor support, the small arm speed reducing motor is mounted on the third motor support, one end of the small arm is provided with a third rotating shaft structure, and the third rotating shaft structure is connected with the small arm speed reducing motor on the large arm through; or
-the base comprises: the device comprises a base box body, a support and a local processor support, wherein universal wheels with self-locking mechanisms are mounted at the bottom of the base box body, a mounting and positioning structure of the support is arranged at the upper part of the base box body, and the local processor support is mounted inside the base box body; one end of the bracket is arranged on the upper part of the base box body through a flange, the other end of the bracket is provided with a crank arm rotating shaft hole and a first motor support, and a crank arm speed reducing motor is arranged on the first motor support; the second motion combination comprises: the device comprises a crank arm, a large arm and a small arm, wherein one end of the crank arm is provided with a first rotating shaft structure, the first rotating shaft structure is connected with a crank arm speed reducing motor on a support through a first coupler, the other end of the crank arm is provided with a large arm rotating shaft hole and a second motor support, the large arm speed reducing motor is mounted on the second motor support, one end of the large arm is provided with a second rotating shaft structure, the second rotating shaft structure is connected with the large arm speed reducing motor on the crank arm through a coupler, the other end of the large arm is provided with a third motor support, and the small arm speed reducing motor is mounted on the third motor support; one end of the small arm is provided with a third rotating shaft structure, and the third rotating shaft structure is connected with a small arm speed reduction motor on the large arm through a coupler;
for the semi-exoskeleton upper limb rehabilitation instrument comprising the first motion combination, in use, the semi-exoskeleton upper limb rehabilitation instrument is placed on a horizontal ground and adjusted to an initial position: placing the input-output device in front of a seat; seating the patient in a chair against the input-output device; adjusting the position of the base and the rotation angle of the vertical arm to enable the moving body to be positioned on the side of the patient body, adjusting the small arm supporting plate to point to the direction of the input and output equipment, and then screwing down the screw for fixing; adjusting the height of the chair to enable the rotation axis of the big arm to pass through the rotation center of the shoulder joint of the patient; the patient adjusts the sitting posture by himself, so that the rotation axis of the vertical arm passes through the rotation center of the shoulder joint of the patient; loosening the fastening screw, moving the sliding block to adapt to the length of the upper arm of the upper limb of the patient, enabling the rotation axis of the small arm to penetrate through the rotation center of the elbow joint of the patient, screwing the fastening screw, and recording the scale corresponding to the upper edge of the sliding block at the moment, so that the adjustment is convenient for the patient to perform the next rehabilitation training; finally, fixing the forearm of the upper limb of the patient on the forearm supporting plate by using a flexible belt; the anteflexion or abduction angle of the upper arm is considered to be 0 ° at this time;
for the semi-exoskeleton upper limb rehabilitation instrument comprising the second motion combination, in use, the semi-exoskeleton upper limb rehabilitation instrument is placed on a horizontal ground and adjusted to an initial position: placing the input and output device in front of the seat; seating the patient in a chair against the input-output device; adjusting the position of the base and the turning angle of the turning arm to enable the moving body of the rehabilitation instrument to be positioned on the side of the patient, adjusting the forearm supporting plate to point to the direction of the input and output equipment, and then screwing down the screw to fix the forearm supporting plate; adjusting the position of the chair and enabling the patient to adjust the sitting posture, and enabling the rotation axis of the crank arm to pass through the rotation center of the shoulder joint of the patient; adjusting the height of the chair to enable the rotation axis of the big arm to pass through the rotation center of the shoulder joint of the patient; loosening the fastening screw, moving the sliding block to adapt to the length of the upper arm of the upper limb of the patient, enabling the rotation axis of the forearm to penetrate through the rotation center of the elbow joint of the patient, tightening the fastening screw for fixation, and recording the scale value corresponding to the upper edge of the sliding block at the moment, so that the adjustment is convenient for the patient to perform the next rehabilitation training; finally, fixing the forearm of the patient on the forearm supporting plate by using a flexible belt; the angle of rotation of the upper arm in either the forward or outward flexion can be considered to be 0 deg..
2. The semi-exoskeleton upper limb rehabilitation apparatus according to claim 1, wherein the seat is a height-adjustable seat.
3. The semi-exoskeleton upper limb rehabilitation instrument according to claim 1, wherein the upper arm is further provided with a human upper arm length adjusting mechanism, and the human upper arm length adjusting mechanism comprises: the four supporting pieces, the two sliding rods and the sliding block; the four supporting pieces are arranged on the large arm, the supporting pieces are provided with slots, and the two sliding rods are fixed on the supporting pieces through fastening screws; the sliding block is fixed on the sliding rod through a fastening screw, and one side of the sliding block is provided with a slot.
4. The semi-exoskeleton upper limb rehabilitation instrument according to claim 1, wherein the forearm is further provided with a human forearm fixing device, the human forearm fixing device is used for fixing the forearm of the human upper limb on the forearm, and the fixing mode comprises the following steps: a flexible band.
5. The semi-exoskeleton upper limb rehabilitation apparatus of claim 1 wherein the control system comprises: remote computer, local processor, sensor; in particular, the amount of the solvent to be used,
the remote computer is used for managing personal information of the users and establishing a training progress aiming at each user;
the local processor is used for controlling each speed reducing motor, storing and sending data generated by user training to the remote computer, and is arranged on a local processor support inside the base;
the sensor includes: the device comprises an encoder and a torque sensor, wherein the torque sensor is used for monitoring the torque in the rehabilitation exercise process, and the encoder is used for detecting and feeding back the rotation angle of each speed reducing motor of the power system.
6. The semi-exoskeleton upper limb rehabilitation apparatus of claim 1 wherein the powered system comprises: a reduction motor and related accessories; the input-output device includes: the display is used for displaying data generated in the rehabilitation training process; the handheld controller is used for selecting a motion mode of rehabilitation training and adjusting a motion range and a motion speed, wherein the motion mode of the rehabilitation training comprises the following steps: a manual adjustment mode and an automatic operation mode.
CN201610916073.4A 2016-10-20 2016-10-20 Semi-exoskeleton upper limb rehabilitation instrument Active CN106420261B (en)

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