CN106691773A

CN106691773A - Joint rehabilitation training device

Info

Publication number: CN106691773A
Application number: CN201611099181.3A
Authority: CN
Inventors: 尚廷东
Original assignee: ZHENGZHOU DONGCHEN TECHNOLOGY Co Ltd
Current assignee: ZHENGZHOU DONGCHEN TECHNOLOGY Co Ltd
Priority date: 2016-12-04
Filing date: 2016-12-04
Publication date: 2017-05-24
Also published as: CN107773387B; CN107773387A

Abstract

The invention relates to a joint rehabilitation training device which comprises a device frame and a driving mechanism. The driving mechanism comprises a driving motor with a motor shell and a motor output shaft, a rotary shaft with a rotating axis extending in the front-back direction is rotationally assembled on the device frame, and a first torque output structure is arranged at one end of the rotary shaft. The motor output shaft is in transmission connection with the rotary shaft, and the device frame is provided with a tension and pressure sensor for supporting the motor shell. The problem that due to the fact that a torque sensor is adopted for measuring the force value in the prior art, an electric brush is abraded, and signal instability is caused is solved.

Description

A kind of joint rehabilitation training device

Technical field

The present invention relates to the joint rehabilitation training device in a kind of rehabilitation mechanical.

Background technology

Cerebral apoplexy or apoplexy are a kind of sudden Cerebrovascular disorders obstacle diseases, and cerebral apoplexy typically results in componental movement Dysfunction, paralytic especially occupies the hemiplegic patient of significant proportion, how brings white elephant to family and society Effective rehabilitation is carried out to hemiplegia patient, is recovered or the basic motion function for recovering hemiplegic patient is one long-term and difficult Huge task.

In order to realize the recovery of motion function, re -training must be just carried out to muscle, traditional rehabilitation means are main Will be based on the singlehanded dynamic treatment of the single pair of for the treatment of physician, this rehabilitation mode, therapeutic effect is not obvious, and treatment cycle is long, Not only the amount of labour of therapist is big, while also expending patient's energy, increases the burden of medical worker.

Therefore correct convalescence device and correct method of rehabilitation are most important, and I has applied for theme in June, 2016 Entitled " a kind of joint rehabilitation training device and its training stand ", the application for a patent for invention of Publication No. CN104887457, The convalescence device for a kind of method of rehabilitation of my invention being disclosed in the patent of invention and being matched with the method for rehabilitation, the rehabilitation side Take the lead in introducing primitive concept in method, according to organization of human body and movement characteristic, complicated motion can be decomposed into several single portions This most basic unit, is referred to as primitive by position, the single degree of freedom, the rotary motion rotated around corresponding joint, and this is transported It is dynamic to be called elementary motions, by the training step by step to each primitive, so as to recover final locomitivity.

Convalescence device for above-mentioned method of rehabilitation includes drive mechanism and fixator, the torque output of drive mechanism End is connected by torque transfer arrangement with fixator, is provided with torque output and the drive path of drive mechanism Torque sensor, fixator be sole fixed mount or palm fixed mount, when using the axis of torque transfer arrangement respectively at The axis coincidence of the corresponding free degree in the joint of corresponding limbs train, by the mode of operation such as active and passive of drive mechanism To realize the training to limbs.There is problems with existing this convalescence device：1st, torque sensor needs rotation to measure Data, will rotate and be less susceptible to set, and the brush of torque sensor can wear and tear, jitter, and either photoelectricity is still in addition The Costco Wholesale of wireless torque sensor is all higher；2nd, existing this fixator is only capable of having one to sole, palm etc. The main joint of the individual free degree（Or be compared with large joint）It is trained, for a finger, the free degree is more, it is not necessary that to every The individual free degree is individually trained, it is necessary to every finger is completely trained as a training unit, and existing limbs are fixed Frame cannot be trained to the articulations digitorum manus of finger.

The content of the invention

It is an object of the invention to provide a kind of joint rehabilitation training device, to solve to use torque sensor in the prior art Dynamometry value is because of the problem of jitter caused by brush wear.

To achieve these goals, the technical solution adopted in the present invention is：

A kind of joint rehabilitation training device, including device frame and drive mechanism, drive mechanism include having motor casing and motor defeated The motor of shaft, is rotatably equipped with the rotary shaft that pivot center extends along the longitudinal direction, one end of rotary shaft on device frame The first torque output structure is provided with, motor output shaft is connected with rotary shaft, is provided with device frame to the motor casing The pull pressure sensor being supported.

Device frame includes preceding riser, rear riser, and the rear and front end difference rolling assembling of rotary shaft is electric on forward and backward riser Machine output shaft is the hollow shaft that extends along the longitudinal direction of axis, rotary shaft coaxial line be arranged in the hollow shaft and with the sky Heart axle is fixedly connected.

The motor casing is located at the left side of the rotary shaft, and motor casing arranges in left-right direction, be fixed with motor casing with The suspension that motor casing is set up in parallel, pull pressure sensor supports the motor casing by being connected with the suspension.

The limit spacing structure for limiting the rotary shaft reciprocating rotation limit is additionally provided with device frame.

Coaxial in rotary shaft to be installed with position limit arm, limit spacing structure includes the block positioned at the position limit arm both sides, limit The two sides of position arm are used for the reciprocating rotation limit for coordinating and limiting rotary shaft with corresponding block block.

Beneficial effects of the present invention are：When being trained using this joint rehabilitation training device, the power of trainer passes through To motor output shaft, to motor casing, motor casing has around rotary shaft the power acting in opposition of motor output shaft rotary shaft back transfer The trend for being rotated, supporting the pull pressure sensor of motor casing just can accurately measure the force value, and what pressure was sensed makes With, the cost of product is reduced, while the setting structure of pull pressure sensor is relatively easy, in the absence of as in torque sensor The easily worn parts such as brush, signal stabilization.

Brief description of the drawings

Fig. 1 is the structural representation of the embodiment 1 of joint rehabilitation training device in the present invention；

Fig. 2 is the left view of Fig. 1；

Fig. 3 is the top view of Fig. 1；

The structural representation of Tu4Shi Tu1Zhong articulations digitorum manus training institution；

Fig. 5 is the cooperation schematic diagram of training band and fingerstall in Fig. 4；

Fig. 6 is the finger tip trajectory diagram of finger to be trained in the present invention；

Fig. 7 is the schematic diagram of the panoramic limit motion in recovery training method in the present invention；

Fig. 8 is the structural representation of the embodiment 2 of joint rehabilitation training device in the present invention；

Fig. 9 is the left view of Fig. 8；

Figure 10 is the top view of Fig. 8；

Figure 11 is the cooperation schematic diagram of limit spacing structure and position limit arm in Fig. 8；

Figure 12 is A-A in Figure 11 to sectional view；

Figure 13 is the cooperation schematic diagram of sole support and the first torque output structure in Fig. 8；

Figure 14 is the top view of Figure 13.

Specific embodiment

The embodiment of joint rehabilitation training device is as shown in figures 1 to 6：Including drive mechanism and articulations digitorum manus training institution, drive Mechanism includes device frame and horizontally disposed motor 1, and motor 1 is the reducing motor for being capable of vertical output, drives electricity Machine includes the electricity that the motor casing arranged in left-right direction and the axis being assemblied on motor casing by bearing are extended along the longitudinal direction Machine output shaft, motor output shaft is hollow shaft, is rotated on device frame and is provided with the rotary shaft that pivot center extends along the longitudinal direction 10, device frame includes base plate 3 and the preceding portrait 4, the rear riser 13 that are fixedly arranged on base plate, the two ends rolling assembling of rotary shaft 10 in On forward and backward riser, rotary shaft is passed through by the center of motor output shaft, and rotary shaft is by driving key and motor output shaft coaxial line Drive connection.The first torque output structure and the second torque output structure, the first torque output structure position are provided with rotary shaft In the end of rotary shaft, the second torque output structure is located at the middle part of rotary shaft, and the second torque output structure is solid including coaxial line Rotating wheel 12 in rotary shaft, rotating wheel is a circular wheel in the present embodiment, and rotating wheel 12 is made up of nylon material, is filled The position limiting structure being additionally provided with frame for limiting rotating wheel slewing area is put, projection, position limiting structure bag are provided with rotating wheel The forward and backward block positioned at the projection left and right sides is included, positive stop coordinates with projection block can limit rotating clockwise for rotating wheel The limit, backstop and projection block coordinate can limit rotating wheel to rotate counterclockwise the limit, by position limiting structure and projection Coordinate so as to the rotational travel of rotating wheel is limited in certain scope.Motor casing is located at the left side of rotary shaft 10, motor casing On be installed with the suspension 14 being be arranged in parallel with motor casing, pull pressure sensor 2, pressure are provided between suspension 14 and base plate 3 The upper end of sensor 2 is hinged and connected with suspension 14, and lower end and the base plate 3 of pull pressure sensor 2 are hinged and connected, suspension and motor casing Belonging to that axle can be relatively rotated has the rotating turret of rotation trend.When not in use, pull pressure sensor forms a supporting leg, To be supported to motor casing, preceding, riser forms a supporting leg, so as to ensure the shelf-stability of whole drive mechanism.

Articulations digitorum manus training institution includes the mechanism rack 5 on the right side of rotary shaft, and mechanism rack 5 is fixedly arranged on the base plate of device frame On, mechanism rack includes the front vertical plate and back vertical plate that time interval is set, and the upper right side of forward and backward riser is provided with arc-shaped notch 30, There is gap 31 between the upper end of forward and backward riser and rotating turret.Guide frame, the guide direction of guide frame are set in mechanism rack Arc is moved towards along involute to extend, guide frame includes two spaced needle bearing groups, two needle rollers in the present embodiment Bearing group is setting up and down, and the top needle bearing group in position is referred to as needle bearing group 9, and position needle bearing group on the lower is referred to as Lower needle bearing group 8, each needle bearing group include along guide frame move towards order arrangement multiple needle bearings 6, The axis of needle bearing extends along the longitudinal direction, and the two ends of each needle bearing rotate be arranged on forward and backward riser respectively.It is oriented to knot It is oriented on structure and is equipped with training piece, training piece is a bent training band being made up of nylon or plastics in the present invention 11, the training band that nylon or plastics are made can bend and can transmit drawing thrust, it is possible to achieve the instruction in the both direction of finger Practice, training band includes the linkage section 11-1 being fixedly linked with the outer peripheral face of rotating wheel 12 and between two needle bearing groups The guide section 11-2 for being oriented to and coordinating is rolled with corresponding needle bearing, linkage section can be fixed on rotation by screw or adhesive means On wheel 12, it is also equipped with being similarly used for training band with the needle bearing group in mechanism rack in the present embodiment, on rotating turret The device frame needle bearing that upper end is oriented to.Finger attachment structure includes the fingerstall of the finger belly insertion for the finger to be trained 23, fingerstall 23 is connected by connecting plate 24 with the training band 11, and one end and the fingerstall 23 of connecting plate 24 are hinged and connected, connecting plate 24 other end is hinged and connected with training band.The upper right side of forward and backward riser is provided with horizontal carriage 20, and palm can be placed when using In in horizontal carriage 20.In Fig. 4, Fig. 5, Fig. 6, item 21 represents finger, and item 22 represents finger-joint, and dotted line is represented in Fig. 4, Fig. 5 One of state.

First torque output structure is the outer square head structure being coaxially set with rotary shaft, when using, can accordingly Limb support（Limb support can be the sole fixed mount or palm fixed mount described such as in background technology）It is fixed on first The interior square hole that outer square head structure is adapted to inserting can be arranged in torque output structure, on limb support.It is of the invention other In embodiment, the first torque output structure can also be interior square hole structure, is now provided with limb support suitable with interior square hole The outer square toes matched somebody with somebody, certain first torque output structure can also be flange arrangement, and it is right now to need to be provided with limb support , be fixed together for two flanges by connecting bolt by the adpting flange answered.

The guide direction of guide frame why be not standard circular arc direction extend because as shown in fig. 6, finger It is three sections, that is to say, that the free degree of complete finger is multiple degrees of freedom rather than one degree of freedom, the bending and stretching process of finger Naturally it is the motion of a multivariant compound motion rather than a single-degree-of-freedom, finger is depicted in figure and is being bent or is being stretched During fingertip motions track, the movement locus 25 for showing finger tip is not a regular circular arc, but one is gradually opened The guide direction of the guide frame in wire shaped, therefore the present invention is also adopted by the extension of involute direction, so more conforms to human body Engineering science, the actual motion track with finger is consistent, it is ensured that training effect；Motor casing and articulations digitorum manus training institution are placed in rotation The both sides of axle, it is possible to achieve the rational deployment in space, facilitate the setting of motor and articulations digitorum manus training institution.

When in use, by the finger tip of finger to be trained insertion fingerstall, needle bearing makes the joint rehabilitation training device With the running resistance that can reduce training band, the frictional resistance of training band can be ignored substantially, and the power of such finger can be with Accurately in the pull pressure sensor of reaction, it is beneficial to the accurate measurement of force value.Can be used when being trained to articulations digitorum manus following Four steps are tested：The first step, because patient muscle is now also in pine completely without locomitivity, i.e. patient muscle Relax or in complete state of paralysis, so people is motionless in this step, drive mechanism provides active force, and rotary shaft can be clockwise Rotation can also be rotated counterclockwise, and so after preliminary motion study is obtained, pull pressure sensor can after having the generation of positive force Learnt with entering second step；Second step, people moves together with joint rehabilitation training device, the force direction and human body of drive mechanism Force direction it is consistent, the force dynamics of drive mechanism can gradually increase, so incremental cyclic training；3rd Step, drive mechanism is failure to actuate, and people moves, and now human body applies static force to joint rehabilitation training device, and the power is by rotating crop rotation For rotary shaft, be applied to the power on motor output shaft by rotary shaft, and reaction is produced between motor output shaft and motor casing Power, pull pressure sensor realizes the measurement to human body force value by measuring the reaction force, between rotating turret and mechanism rack With gap, such mechanism rack will not be to forming active force, so as to ensure the accurate measurement of force value between rotating turret, now can be with Carry out power training and evaluation；4th step, people moves together with joint rehabilitation training device, the motion side of joint rehabilitation training device It is so with different levels to train step by step in opposite direction with human motion, be conducive to the gradually recovery of muscle.Pull pressure sensor is made It is a leg structure of device frame, enriches the function of pressure tactility apparatus, simplifies the structure of device frame, pressure sensing Device can easily measure finger when drive mechanism is failure to actuate and, to the active force of joint rehabilitation training device, measure accurate, compared to torsion Structure simplifies for square sensor, and cost is relatively low.

In other embodiments of the invention：When it is not very high that training precision is required, the guiding side of guide frame To can also extend along circular arc；Certain guide frame may not be needle bearing structure, for example guide barrel construction；Certainly Training band can also be made up of magnetic material, can now be avoided between training band and guide frame using magnetic suspension structure There is frictional force, fingerstall directly can also be hinged and connected with training band；Certain finger attachment structure may not be fingerstall structure, than A connecting hole is opened up on training band as said, the finger tip of finger realizes the transmission phase of finger and training piece through the connecting hole Connect, or can also be tied up on training band finger with rope；Training band can also be by other bent flexible materials such as cloth It is made, when training band is made up of cloth, the device can only realize the one direction training of finger；Certain training piece can also be without being band Shape structure, such as, training piece be only one can in guide frame guiding movement movable block；Rotating wheel can also be used Sector structure, now forward and backward block can be stopped by the both sides side bumper with rotating wheel and coordinate and limit the slewing area of rotating wheel； Suspension can not also be set, and now pull pressure sensor can be directly arranged between motor casing and base；The motor of motor Output shaft can also be solid construction, and now rotary shaft can be connected by shaft coupling or spline with motor output shaft； The axis of certain motor output shaft can also extend in left-right direction, and now motor output shaft can be by bevel gear and rotary shaft Drive connection；Articulations digitorum manus training institution can not also be as a part for this joint rehabilitation training device, such as consumer can Purchase or autogamy in addition；The rotating wheel in rotary shaft is may not be when such as torque output structure, such as in rotary shaft End sets drive splines or shaft coupling, fixator of the prior art can be connected into torque output knot when using On structure.

The embodiment 2 of joint rehabilitation training device is as shown in Fig. 8 ~ 14：The embodiment 2 of joint rehabilitation training device and implementation Unlike example 1, the first torque output structure 51 is provided only with rotary shaft 10 and the second torque output structure is not provided with, rehabilitation Training cartridge also includes the limb support being made up of sole fixed mount, and sole fixed mount includes pedal 45 and is arranged at pedal end The toe binding 46 in portion, during the toe of rehabilitation personnel inserts in toe binding when using, joint and the rotary shaft coaxial line of toe are come with this The rehabilitation training to toe is realized, connecting shaft 47 corresponding with the first torque output structure is provided with limb support, first turns round Square export structure 51 includes multiple elastic arms, and connecting shaft 47 is plugged in the endoporus that elastic arm is surrounded, and is consolidated in the periphery of elastic arm A fixed anchor ear, the connection of the torque output structure of connecting shaft more than 47 first is realized by anchor ear, in order to ensure connecting shaft with elasticity Fixed between arm, connecting shaft is multiple edge body structure.Device frame includes left socle 40 and right support 43, the base plate of device frame 3 are fixedly arranged on left and right support, and base plate can so ensure that limb support has certain height higher than the bottom of left and right support Degree, is that certain space is conceded in the rotation of limb support.Coaxial line is installed with position limit arm 50 in rotary shaft, is provided with device frame Position-arresting disk 42, position-arresting disk 42 is circumferentially spaced to offer multiple mounting holes radially extended along rotary shaft, and limitation rotary shaft is reciprocal The limit spacing structure of rotational limitation include positioned at position limit arm both sides the first limited block and the second limited block, the first limited block, Second limited block is the latch 44 for being plugged in correspondence mounting hole, and screwed hole is provided with the hole arm of mounting hole, is used in screwed hole In jackscrew is installed, the fixation to latch is realized by jackscrew, the two sides of position limit arm are respectively used to and the first limited block, the second limit Position block block coordinates so as to limit the reciprocating rotation limit of rotary shaft, by changing latch in different mounting holes, Ke Yigai Become rotation of the limit position limiting structure to rotary shaft and limit scope.Figure middle term 41 represents pin, and item 2 represents pull pressure sensor.

In order to be able to clearer explanation this joint rehabilitation training device, below it is just pair corresponding with the joint rehabilitation training device The method of rehabilitation invented by Mr. Shang Tingdong carry out detailed narration.This method of rehabilitation also known as Long Shi athletic rehabilitation methods, its Mainly comprise the following steps.

The panoramic limit athletic rehabilitation method of first segment primitive

First, primitive and elementary motions

According to organization of human body and movement characteristic, complicated motion can be decomposed into several single positions, the single degree of freedom, around right This motion, this most basic functional unit primitive, is called elementary motions by the rotary motion for answering joint to rotate.Example Such as：Centered on right elbow joint, before the relevant right elbow joint of flexion movement, right upper arm, the right side is made around right elbow joint with right forearm Arm is called right elbow joint primitive；Right forearm is a right elbow joint primitive of upper limbs compound motion as flexion movement around right elbow joint Motion.There are a primitive, one elementary motions of correspondence in some joints, such as：Elbow, knee joint；There are two primitives, correspondence in some joints Two elementary motions, such as：Hip, wrist joint.

Motion constitutes normal, complexity compound motion in life to multiple primitive health in phase.

In addition to ten toes of ten fingers of palm and sole, four limbs have 24 elementary motions, have and are revolved around joint The motion for turning, there is the motion reversed around composite joint.

2nd, elementary motions rehabilitation is efficient athletic rehabilitation method one by one

So-called athletic rehabilitation, exactly moves dynamics, motion amplitude, movement velocity（Referred to as：Motion three elements）Recover to or approach The process of normal level.Elementary motions rehabilitation one by one is efficient athletic rehabilitation method, two main reason is that：

1st, athletic rehabilitation is again learning process of the rehabilitation clients to motion.All superior resources are concentrated, wholeheartedly,

The rehabilitation of a certain elementary motions is absorbed in without single devotion：It is cognitive, imitate, recover the motion dynamics of the primitive, motion amplitude, Movement velocity, this is efficiency highest athletic rehabilitation method.Practice has been proven that this point.

2nd, usually, rehabilitation clients is mostly the Motion missing of multiple primitives, and each primitive missing degree is not

One, thus in the presence of a most tired primitive：It is exactly that the motion three elements of the primitive have more equivalents than other primitives Missing.When rehabilitation clients does many primitive compound motions of complexity, most tired primitive is protected first, and this is that unconscious condition is anti- Penetrate；Generally：Most tired primitive may will be forever without progress.This time, most efficient method is many primitive compound motions that stop, Athletic rehabilitation is carried out to single most tired primitive；If ripe, the missing degree that most tired primitive is greatly lowered namely divides The thing of minute.

3rd, the panoramic limit athletic rehabilitation method of primitive

1st, panoramic limit athletic rehabilitation pattern

Now, the various mode of operations of its athletic rehabilitation are described so that right forearm stretches elementary motions in the wrong around right elbow joint as an example.Setting： It is movement velocity, the positive direction of motion dynamics that right forearm stretches motion, and it is movement velocity, motion dynamics that right forearm is made to bend motion Negative direction；As shown in fig. 7, Fig. 7 is based on panoramic limit athletic rehabilitation method vector collection of illustrative plates：Its movement velocity represents with horizontal axle and V, Motion dynamics vertical axis F is represented；O is movement velocity, the zero point of motion dynamics；A is the positive maximum of movement velocity, and C is The maximum negative value of movement velocity；B is the positive maximum of motion dynamics, and D is the maximum negative value of movement velocity；It is also supposed that E, I, G, H are all directions movement velocity, the intersection point of motion dynamics maximum, are the maximum capacities when primitive does elementary motions. Its movement velocity, motion dynamics constitute plane right-angle coordinate.(figure one)

As described above, ordinary circumstance, when right elbow joint elementary motions are done, its range of movement is rectangle E I to right elbow joint primitive Whole spaces within GH and rectangle E I GH, are exactly operated in the space of panoramic limit, i.e., panoramic limit athletic rehabilitation pattern, with Under described one by one.

O origins：

Rehabilitation clients's right upper extremity is still in a certain position, without force, without stress, without motion.

OA straightways：

OA straightways represent that rehabilitation clients does not exert a force, and rehabilitation clients's muscle is in fully relaxed state or in shape of paralysing completely State, the right elbow joint primitive of rehabilitation clients is driven and does right elbow joint primitive and stretch motion.

First quartile：

First quartile working range is rectangle OAEB, and first quartile is represented：Right elbow joint primitive apply stretch movement tendency positive force, Active forward direction is done with certain movement speed and stretches motion.

OB straightways：

OB straightways represent that right elbow joint primitive applies the positive force for stretching movement tendency on this position, but right elbow joint primitive stops In certain position transfixion.The training of static forward direction stretch can be carried out in the straightway and evaluate.

Second quadrant：

Second quadrant jobs scope is rectangle OB I C, and the second quadrant is represented：Right elbow joint primitive applies the forward direction for stretching movement tendency Power, but with certain movement speed do passive negative sense bend motion.

OC straightways：

OC straightways represent that rehabilitation clients does not exert a force, and rehabilitation clients's muscle is in fully relaxed state or in shape of paralysing completely State, the right elbow joint primitive of rehabilitation clients is driven and does the motion in the wrong of right elbow joint primitive.

Third quadrant：

Third quadrant working range is rectangle OCGD, and third quadrant is represented：Right elbow joint primitive apply movement tendency in the wrong negative force, Active negative sense is done with certain movement speed and bends motion.

OD straightways：

OD straightways represent that right elbow joint primitive applies the negative force of movement tendency in the wrong on this position, but right elbow joint primitive stops In certain position transfixion.Static negative sense can be carried out in the straightway bend power training and evaluation.

Fourth quadrant：

Fourth quadrant working range is rectangle ODHA, and fourth quadrant is represented：Right elbow joint primitive apply movement tendency in the wrong negative force, But passive forward direction is done with certain movement speed and stretches motion.

In sum：Panoramic limit athletic rehabilitation pattern has eight kinds of patterns such as master is passive, bend and stretch.Rehabilitation clients can independently exist Arbitrarily switch in eight kinds of patterns, carry out comprehensive, multi-functional rehabilitation training, and evaluate in training.

2nd, the panoramic limit athletic rehabilitation method of primitive

By near-end and distally the elementary motions one by one to the single primitive of rehabilitation clients carry out rehabilitation training；In terms by terms the primitive is transported Power degree, motion amplitude, movement velocity carry out active and passive rehabilitation training, and the evaluation for quantifying, that is, make the primitive Athletic rehabilitation is in panoramic limit athletic rehabilitation pattern；Rehabilitation clients by by primitive it is panoramic limit exercise rehabilitation training after, limbs it is every Individual elementary motions dynamics, motion amplitude, movement velocity close to or up it is normal when value when, then carry out compound motion rehabilitation instruction Practice；To finding still to there is the primitive of Motion missing to focus on to carry out the panoramic limit athletic rehabilitation instruction of the primitive in compound motion rehabilitation training Practice, compound motion is reached proper motion form；Here it is the panoramic limit athletic rehabilitation method of primitive.

4th, primitive it is panoramic limit athletic rehabilitation method the characteristics of

1st, efficient motor learning method

When to limbs, certain single elementary motions carries out rehabilitation training, the rehabilitation clients elementary motions are unique limbs behaviors, OK It is to be united two into one correspondingly with idea, this is a process for autonomous and towards unique objects motor learning, The only way for being efficiently to learn technical performance autonomous and with single-hearted devotion.Efficiency high, the confidence and strength of patient is also just high .

2nd, comprehensive athletic rehabilitation method

Comprehensive, multi-functional panoramic limit athletic rehabilitation pattern is carried out comprehensively to the single primitive of limbs one by one by near-end and distally Athletic rehabilitation, comprehensive athletic rehabilitation method avoids the omission of Motion missing and ignores.

3rd, the rehabilitation of multielement and evaluation quantizating index

As the motion dynamics of athletic rehabilitation three elements, motion amplitude, movement velocity quantizating index rehabilitation with evaluation process In can be with numerical monitor.

4th, evaluated in training, rehabilitation course is shot the arrow at the target

During athletic rehabilitation, while showing motion dynamics, motion amplitude, the real-time value of each key element of movement velocity, pass through Compared with normal value, specify that rehabilitation goal, rehabilitation course is shot the arrow at the target.

5th, medical personnel's labour intensity is reduced.

Either OT rehabilitations teacher or PT rehabilitations teacher have different degrees of limbs to strain, and machine instead of people, it is clear that drop Low medical personnel's labour intensity.

The interactive rule of second section shape meaning

Walk upright and the formation of hand of the mankind are to evolve to come by many years, will be by the study of 8 years after modern's birth Growth just can veritably walk, run, and the motion of people is very long process from maturation is grown to.Because of various reasons, he Motion have missing, then he is accomplished by athletic rehabilitation, to recover its productivity and normal life.

Rehabilitation clients is subject

It is well known that athletic rehabilitation is learning again for motion, it is the intellection of mankind's high iq.So-called high iq is requirement health Multiple teacher pays close attention to rehabilitation clients, instructs, implies with adjusting to changed conditions；Rehabilitation clients is also required to cannily go the work for coordinating rehabilitation teacher as far as possible Make.

Rehabilitation clients needs strategically to learn again with what medical personnel and cooperation of accompanying and attending to were moved.So rehabilitation clients is The behavioral agent of rehabilitation medical work, is subject.So require that rehabilitation clients firms confidence and social responsibility, to the body of oneself Body situation has a comprehensively understanding, whole-heartedly puts into rehabilitation process.

Neural piping lane

By left index finger stretch motion as a example by, in brain left index finger stretch movement instruction rise place movement instruction information via brain Neural traffic part, vertebra, left shoulder, left upper arm, left forearm, the left hand palm be transferred to left index finger definite of final target and Fuzzy hollow zrve transmission corridor, is called neural piping lane.Definite in above-mentioned definition refers to that medical professional thinks, certain Certainly it is such neural traffic approach；Fuzzy refers to the thick spacious neural traffic tubulose approach of the form for allowing rehabilitation clients to understand（Cause For amateur so to obscure）.In fact, the corridor of the idea that neural piping lane is mentioned after being also, sets up neural piping lane concept Purpose be that the generation of other spuious motions is reduced during left index finger athletic rehabilitation.That is neural piping lane is to intelligence One space constraint of power activity, it is desirable to which only idea and left index finger stretch the unique correct way that kinesitherapy nerve information passes through Footpath --- neural piping lane reaches the destination simultaneously.

The interactive rule of shape meaning

Shape is exactly behave, motion, touches；Meaning is exactly thinking, motive, idea, tactile.The interactive rule of shape meaning

It is exactly high unity of the profile with interior meaning and combination, it is described below：

Still so that left index finger stretches motion as an example, it is assumed that rehabilitation clients's left index finger is completely without locomitivity.

The first step, rehabilitation clients's left index finger is lentamente stretched, while the synchronous sound for having " stretching " " stretching " is issued, rehabilitation clients Concentrate left index finger and to expect：Here it is left index finger stretches motion doing.This process is exactly the cognition of motion, is study The first step, so it is repeated multiple times；

Second step, rehabilitation clients's left index finger is still lentamente stretched, while having the sound of " stretching " " stretching " or synchronously being sent out by rehabilitation clients Go out, rehabilitation clients concentrates to produce idea：My brain motor center produces left index finger to stretch movement instruction, these instructions via Neural piping lane reaches left index finger, left index finger is stretched motion doing；Relatively sharp and strong idea is：My related flesh Meat synchronously makes power, and this is that my left index finger independently stretches motion doing.This process is exactly the imitation of motion, is the second of study Step, it is so repeated multiple times；

3rd step, rehabilitation clients's left index finger is stretched stopping, and left index finger is in free state.Or sent " stretching " " stretching " by rehabilitation clients While sound, rehabilitation clients concentrates to produce idea：The command information of nervous centralis arranges my left hand via neural piping lane Forefinger related muscles synchronously make power, and I stretches left index finger！Stretch！This process is just attempt to paleocinetic process, it is believed that It is the test of school grade.At this moment, if left index finger has slight active to stretch motion, learning success is represented, carries out next step； If study is unsuccessful, repeat the above steps.

4th step, in this event, although neural piping lane is only that idea and left index finger are stretched kinesitherapy nerve information and passed through Unique right way, idea during producing neural piping lane transfer function should have strong exclusiveness.But if health Control of the intellection ability and existing physiological condition of multiple person to athletic rehabilitation behavior is limited, it is possible to produce many spuious fortune It is dynamic.So-called spuious motion, exactly is implementing to be generated for example when left index finger stretches motion：Other motions of contraction of abdominal muscle. During follow-up athletic rehabilitation, spuious athletic meeting is screened and faded away.

This be one it is uninteresting, consumption rehabilitation clients's energy shape meaning interactive process, contain cognition, imitation, autokinetic movement, Spuious motion is screened and disappeared.Especially it is emphasised that rehabilitation clients must whole-heartedly put into, unexpected effect can be reached.

Section three, skin scraping therapy with water, liquor or vegetable oil is first-selected Aided Physical therapy

First, depth and range are touched with the unrivaled limbs top layer of other physical therapies；

2nd, improve microcirculation, optimize nerve conduction link, reduce nerve conduction impedance in nerve conduction link；

3rd, induce muscle reflex activity and simulate normal autokinetic movement；

4th, muscular atrophy is avoided completely, and muscle passive activity amount is much larger than autokinetic movement activity；

Five is different from acusector, intermediate frequency, low frequency, and zero injury can be accomplished to nerve cell；

Section four, motion dynamics sequence rule

Motion dynamics sequence rule is exactly：Human motion needs to consume strength, and normal human body posture is graceful；Rehabilitation Person needs to carry out rehabilitation training because of a part Motion missing, while its athletic posture also shows exception.At this moment should pay the utmost attention to Affected area move dynamics rehabilitation training, when move dynamics recover it is normal when, by brain modulation athletic posture naturally also Recover normal.

The momentum of specific action needs, the kinetic energy that specific people is done under specific environment are certain, according to momentum Theorem, law of conservation of energy, motion dynamics diminish, it is necessary to power act on time change with maintain motion continuation and with not For the purpose of unstability, this complicated process receives many close-loop automatic adjustments of brain.The action time of power changes, and athletic posture just shows Reveal exception.So wanting normal that of athletic posture just must first recover motion dynamics.

If still suspected, then just convert different bionical attitudes, the custom of bad attitude cannot be formed.But Motion dynamics must preferentially rehabilitation anyway.

Section five, inverse gesture rule

If rehabilitation clients's affected portion Muscle tensility increases, the part is always at bending and stretching state extremely or exception bends and stretches trend, When inactive state or motion state, against gesture affected portion all should be made to be in the normal state or inverse gesture of bending and stretching receives the abnormal trend of bending and stretching Resistance.Inverse gesture is that confrontation Muscle tensility is increased, increases and is allowed to be minimum the purpose is to hold back resistance Muscle tensility.

Everybody has only focused on affected portion and inverse gesture rule has been observed in inactive state, there is some such as finger-separating plates, special branch Tool etc. is being used.With greater need in accordance with inverse gesture rule during its tangible motion state.

For example, take exercise arm strength friction plate, exercise coordinate etc. exercise for power device, be all that rehabilitation clients's palm is bundled in one On individual columnar object, when limbs are exerted oneself, palm Muscle tensility increases, and palm is always at abnormal state in the wrong, because at this moment rehabilitation Person is in the excitement phase of motor relearning, and palm is chronically at abnormal state in the wrong can encourage this exception attitude in the wrong turns into custom Attitude；Under normal circumstances, it should be bundled on a plate-shaped body when being in rehabilitation clients's palm and normally stretch attitude, make palm different Often trend in the wrong is obstructed.Effect of getting twice the result with half the effort can so be reached.

Section six, law of competition

Competition is present in each corner of living nature.

When athletic rehabilitation treatment is received, affected area B occurs abnormal motion or abnormal motion to affected area A often Trend, this phenomenon represents that affected area A and affected area B has shared living resources.In order to promote living resources to derive With living resources reasonable redistribution, introduce competition mechanism.Affected area B is set to receive the same of athletic rehabilitation treatment in affected area A When, take advantage of a situation positively, moved against gesture, here it is law of competition.

It was verified that affected area B comply with abnormal motion trend positively and meanwhile also reverse abnormal motion trend and do phase The motion answered, this competitive way can produce good effect.Two affected areas after in accordance with law of competition can be quick Respective living resources are effectively obtained, abnormal motion or abnormal motion trend disappear, as two independent, motions without exception The normal portions of association.

Section seven, rule of taking advantage of a situation

When sneezing as rehabilitation clients, yawn, stretching oneself or carry out other abnormal motions, rehabilitation clients occur in that it is temporary transient but But it is normal, healthy motion state or attitude, rehabilitation clients should take advantage of a situation and maintain this missing multiple in time, as long as possible Existing motion state or attitude continue, until this motion state or attitude disappear.

First for certain a few example, it is appreciated that the motion state or attitude of missing reproduction gradually can be with controlled Last longer and this motion state or attitude can be terminated with controlled.In fact, some motion rehabilitations be strictly Consolidate on maintenance of taking advantage of a situation is basic and formed.

Secondly, missing and the motion state or attitude of reproduction, even the reproduction of moment is all for rehabilitation clients Pleasure, it is filled with exultation.Its mentation is immeasurable.

Section eight, avoid Cardiac Involvemant

During athletic rehabilitation, some rehabilitation clients's hearts may unawares be involved.

During a certain position rehabilitation training of rehabilitation clients, a spuious motion is generated synchronously with position motion, this is miscellaneous Dynamic superposition singularly is loaded in bulk on the heart of periodic pulses.The physical effect of spuious motion superposition is to strengthen or disappear Weak atrium, the diastole of ventricle, shrink, cause that unstable blood pressure is fixed, blood reflux；Its physiology is experienced as dizzy, nervous, and heart has Suffer oppression sense, it is tired it is swollen, even have premature beat sense or have slight pain.

Rehabilitation clients's heart of different constitutions be subjected to involve be objective reality reality, this can make heart be subject to wound；Blood Turbulent flow, fluctuation of blood pressure may result in angiocardiopathy, and Cardiac Involvemant should be avoided during athletic rehabilitation, need to accomplish：

In accordance with the interactive rule of shape meaning, rehabilitation clients thoroughly understands the meaning for setting up neural piping lane concept, and the focus of shape meaning concentrates on this The athletic rehabilitation at position.

Movement velocity is slow, and motion frequency must be less than heart rate, and the irregular change of motion frequency；

Unsustainable, great dynamicses keep a kind of inactive state.

Heart is involved, be it is synchronous with certain motion with row and also be custom.Heart is still needed to once being involved

According to 3 points above through rehabilitation exercise after a while, involvement can be made to disappear.Here it is the spuious fortune that second section is addressed Dynamic examination disappears.

Section nine, move freely

After athletic rehabilitation treatment, the motion three elements such as motion dynamics, motion amplitude, movement velocity have been obtained most rehabilitation clients The recovery of big degree, but it is to need rehabilitation clients oneself through the effort obtainable locomitivity of ability after a while to have a kind of, That be exactly it is unconscious move freely, for example：Walking, running, driving vehicle.The coordination linkage of many elementary motions and each phase It is the necessary condition moved freely to close reducing again for elementary motions missing degree.

Rehabilitation clients need carried out in the environment for have safety guarantee it is unconscious move freely, assess oneself under simulated scenario In real-life locomitivity, the Motion missing of each primitive is farthest found, the comprehensive quantization motion of oneself Ability, moves freely in the case where displacement ability is allowed.

Claims

1. a kind of joint rehabilitation training device, including device frame and drive mechanism, drive mechanism include thering is motor casing and motor The motor of output shaft, it is characterised in that:The rotary shaft that pivot center extends along the longitudinal direction is rotatably equipped with device frame, One end of rotary shaft is provided with the first torque output structure, and motor output shaft is connected with rotary shaft, is provided with device frame The pull pressure sensor being supported to the motor casing.

2. joint rehabilitation training device according to claim 1, it is characterised in that：Device frame includes preceding riser, rear riser, In on forward and backward riser, motor output shaft is the sky that axis extends along the longitudinal direction to the rear and front end difference rolling assembling of rotary shaft Heart axle, rotary shaft coaxial line is arranged in the hollow shaft and is fixedly connected with the hollow shaft.

3. joint rehabilitation training device according to claim 1, it is characterised in that：The motor casing is located at the rotary shaft Left side, motor casing arranged in left-right direction, and the suspension being set up in parallel with motor casing, pull pressure sensor are fixed with motor casing The motor casing is supported by being connected with the suspension.

4. joint rehabilitation training device according to claim 1, it is characterised in that：It is additionally provided with for limiting on device frame The limit spacing structure of the rotary shaft reciprocating rotation limit.

5. joint rehabilitation training device according to claim 4, it is characterised in that：Coaxial fixed limited location in rotary shaft Arm, limit spacing structure includes the block positioned at the position limit arm both sides, and the two sides of position limit arm are used for and corresponding block block Coordinate and limit the reciprocating rotation pole of rotary shaft.