CN108078733A - For slowing down the training device and method of disturbances in patients with Parkinson disease upper limb tremor and myotonia - Google Patents
For slowing down the training device and method of disturbances in patients with Parkinson disease upper limb tremor and myotonia Download PDFInfo
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- CN108078733A CN108078733A CN201711145209.7A CN201711145209A CN108078733A CN 108078733 A CN108078733 A CN 108078733A CN 201711145209 A CN201711145209 A CN 201711145209A CN 108078733 A CN108078733 A CN 108078733A
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- disturbances
- patients
- parkinson disease
- upper limb
- training
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
Abstract
Include the restraining device that trembles the present invention relates to a kind of for slowing down the training equipment of disturbances in patients with Parkinson disease upper limb tremor, for inhibiting the behavior of trembling that disturbances in patients with Parkinson disease occurs in the training process；Serial manipulator is connected with the restraining device that trembles, for disturbances in patients with Parkinson disease to be coordinated to train；Display device can receive the related data of restraining device and serial manipulator in the training process of trembling, for pertinent image information of the real-time display disturbances in patients with Parkinson disease upper limb when being trained；Computer, restraining device is trembled with described and serial manipulator is connected, for handling the related data in training process, the behavior of trembling that disturbances in patients with Parkinson disease occurs in the training process is inhibited by the restraining device that trembles in real time, by serial manipulator disturbances in patients with Parkinson disease is coordinated to train, the disturbances in patients with Parkinson disease for being applicable to different building shape carries out rehabilitation training, and disturbances in patients with Parkinson disease is helped to mitigate symptom of trembling.
Description
Technical field
The present invention relates to medical instruments fields, are used to slow down disturbances in patients with Parkinson disease upper limb tremor more particularly to one kind and flesh is strong
Straight training device and method.
Background technology
Myotonia and static tremor are two big cardinal symptoms of disturbances in patients with Parkinson disease, and the joint of disturbances in patients with Parkinson disease is carrying out quilt
Its muscle is present with higher Muscle tensility during dynamic activity, can generate sensation during similar bending lead pipe, while patient itself also can
Feel muscle rigidity, it is very laborious when movable.It trembles for the onset symptoms of disturbances in patients with Parkinson disease, often starts from one side upper limb distal end, usually
When being happened at patient at rest, aggravate when patient mental's anxiety, although not entail dangers to patient vitals are trembled, to the life of patient
Bring great inconvenience.
At present, the therapy of Parkinson is divided into drug therapy and physiotherapy, although drug therapy is the treatment of mainstream
Mode, but there are the risks of drug side-effect；Although also there are some physical therapy modalities, such as Parkinson is suffered from by bracelet
The hand of person, which trembles, to be inhibited, but bracelet active force is smaller, is trembled and is inhibited there are certain hysteresis quality, and can not be to pa gold
Gloomy patient goes out first excessively high Muscle tensility and performs physical exercise, and still can do nothing to help disturbances in patients with Parkinson disease and mitigates symptom of trembling.
The content of the invention
Based on this, it is necessary to provide a kind of training equipment and side for being used to slow down disturbances in patients with Parkinson disease upper limb tremor and myotonia
Method can make it is suitable for the disturbances in patients with Parkinson disease of different building shape to carry out rehabilitation training, mitigate the symptom of trembling of disturbances in patients with Parkinson disease.
According to embodiments of the present invention is used to slow down disturbances in patients with Parkinson disease upper limb tremor and myotonia in a first aspect, providing one kind
Training equipment, which includes：
Tremble restraining device, occurs in the training process for fixing the upper limb of disturbances in patients with Parkinson disease and inhibiting disturbances in patients with Parkinson disease
Behavior of trembling；
Serial manipulator is connected with the restraining device that trembles, for disturbances in patients with Parkinson disease to be coordinated to train；
Display device can receive the related data of restraining device and serial manipulator in the training process of trembling, use
Pertinent image information when real-time display disturbances in patients with Parkinson disease upper limb is being trained；
Computer is connected with the restraining device that trembles, serial manipulator and display device, for handling training process
In related data.
In one of the embodiments, the restraining device that trembles includes the fixed part for fixing disturbances in patients with Parkinson disease upper limb
And it quivers portion with the shock absorbing that the fixed part is connected.
In one of the embodiments, the shock absorbing quiver portion include installing plate, resetting spring and at least one damper, institute
The both ends for stating resetting spring abut the fixed part and the installing plate respectively, and the both ends of at least one damper connect respectively
Connect the installing plate and the fixed part.
In one of the embodiments, the restraining device that trembles further includes the connection bottom being connected with the serial manipulator
The universal rotational portion of seat and the connection installing plate.
In one of the embodiments, the restraining device that trembles includes three angular transducers, one of them is arranged on
The universal rotational portion and the junction of the connect base, for detecting the angle that the universal rotational portion is rotated around z-axis, separately
Outer two angular transducers are located in universal rotational portion, for detecting the universal rotational portion around x-axis and around the angle that y-axis rotates
Degree.
In one of the embodiments, the universal rotational portion be crossed universal shaft shaft coupling, the crossed universal shaft shaft coupling
It is equipped with rotary damper.
In one of the embodiments, the fixed part include for carry disturbances in patients with Parkinson disease upper limb supporting plate and
It is located on the supporting plate to position the fixation band of the upper limb of disturbances in patients with Parkinson disease, at least one damper and the fixed part
One end of connection is connected with the supporting plate, and the resetting spring is abutted with one end that the fixed part abuts with the supporting plate.
In one of the embodiments, the fixed part further includes the pressure sensor being arranged on the supporting plate.
In one of the embodiments, seat is further included, be arranged at intervals with the restraining device that trembles and is located at the shake
It quivers the front end of restraining device, is taken for Parkinsonian to be trained.
Second aspect according to embodiments of the present invention provides a kind of training side for being used to slow down disturbances in patients with Parkinson disease upper limb tremor
Method, including：
The upper limb to be trained of disturbances in patients with Parkinson disease is fixed on and is trembled on restraining device；
The serial manipulator and the cooperation of the upper limb of disturbances in patients with Parkinson disease is controlled to be trained；
Pertinent image information of the disturbances in patients with Parkinson disease upper limb in training is shown on said display means.
Compared with prior art, the training provided by the present invention for slowing down disturbances in patients with Parkinson disease upper limb tremor and myotonia is set
It is standby, the behavior of trembling that disturbances in patients with Parkinson disease occurs in the training process is inhibited by the restraining device that trembles in real time, passes through serial machine
People coordinates disturbances in patients with Parkinson disease to carry out upper limb tremor and myotonia training, and the disturbances in patients with Parkinson disease for being applicable to different building shape carries out upper limb
It trembles and myotonia rehabilitation training, disturbances in patients with Parkinson disease is helped to mitigate tremble symptom and myotonic reaction.
Description of the drawings
Attached drawing herein is merged in specification and forms the part of this specification, shows the implementation for meeting the present invention
Example, and the principle for explaining the present invention together with specification.
Fig. 1 is that a kind of training for being used to slow down disturbances in patients with Parkinson disease upper limb tremor shown in an exemplary embodiment of the invention is set
Standby structure diagram；
Fig. 2 is that one kind shown in an of the invention exemplary embodiment is trembled restraining device structure diagram；
Fig. 3 is a kind of serial manipulator structure diagram shown in an exemplary embodiment of the invention；
Fig. 4 is a kind of display device structure schematic diagram shown in an exemplary embodiment of the invention；
Fig. 5 is a kind of universal shaft connected device structure diagram shown in an exemplary embodiment of the invention；
Fig. 6 is a kind of training side for being used to slow down disturbances in patients with Parkinson disease upper limb tremor shown in an exemplary embodiment of the invention
Method flow chart；
Fig. 7 is the training that the another kind shown in an exemplary embodiment of the invention is used to slow down disturbances in patients with Parkinson disease upper limb tremor
Method flow diagram；
Fig. 8 is another training for being used to slow down disturbances in patients with Parkinson disease upper limb tremor shown in an exemplary embodiment of the invention
Method flow diagram.
Specific embodiment
Here exemplary embodiment will be illustrated in detail, example is illustrated in the accompanying drawings.Following description is related to
During attached drawing, unless otherwise indicated, the same numbers in different attached drawings represent the same or similar element.Following exemplary embodiment
Described in embodiment do not represent and the consistent all embodiments of the present invention.On the contrary, they be only with it is such as appended
The example of the consistent apparatus and method of some aspects being described in detail in claims, of the invention.
Fig. 1 is that a kind of training for being used to slow down disturbances in patients with Parkinson disease upper limb tremor shown in an exemplary embodiment of the invention is set
Standby structure diagram, the training equipment include seat 10, the restraining device 20 that trembles, serial manipulator 30, display device 40 and
Computer 50.Wherein, the seat 10 is arranged at the front end of the trained equipment, and positioned at middle, for pa to be trained
The gloomy patient of gold takes；The restraining device 20 that trembles, for inhibiting the row that trembles that disturbances in patients with Parkinson disease occurs in the training process
For；The serial manipulator 30 is connected with the restraining device that trembles, for disturbances in patients with Parkinson disease to be coordinated to train；The display dress
40 are put, the related data of restraining device and serial manipulator in the training process of trembling can be received, for real-time display pa
Pertinent image information of the gloomy patient's upper limb of gold when being trained, the computer 50, with the restraining device that trembles, cascade machine
Device people and display device connection, for handling the related data in training process.
It quivers portion 210 and the support rotation as shown in Fig. 2, the restraining device 20 that trembles includes fixed part 200, shock absorbing
The connect base 220 of device, wherein, the fixed part 200 is used to fixing the upper limb of disturbances in patients with Parkinson disease, and the shock absorbing is quivered portion 210
For inhibiting the behavior of trembling of disturbances in patients with Parkinson disease.
In the present embodiment, the shock absorbing quiver portion 210 include installing plate 206, resetting spring 205 and at least one damper
204, the both ends of above-mentioned 205 spring of reset bullet abut fixed part 200 and installing plate 206 respectively, above-mentioned at least one damper 204
Distinguish connection plate 206 and fixed part 200 in both ends.
Specifically, set on above-mentioned installing plate 206 there are three damper 204, the both ends of three dampers connect respectively
Installing plate 206 and fixed part 200, one of damper are arranged on one end of installing plate 206, other two damper 204 is set
The other end in installing plate 206 is put, the triangle that arrangement form is stablized is equipped among above three damper 204 and resets bullet
Spring 205, the both ends of the resetting spring 205 abut fixed part 200 and installing plate 206 respectively, and above-mentioned damper 204 can provide fortune
Dynamic resistance absorbs trembling for disturbances in patients with Parkinson disease upper limb, and resetting spring 205 can apply an opposite force to limit disturbances in patients with Parkinson disease
Upper limb trembles, so as to limit the amplitude of upper limb tremor, in this way, resetting spring and damper can be inhibited with mating reaction
Disturbances in patients with Parkinson disease hand trembles.
In the present embodiment, the restraining device 20 that trembles further includes the connect base being connected with the serial manipulator 30
220 and the universal rotational portion 208 of the connection installing plate 206.
Specifically, the universal rotational portion 208 is crossed universal shaft shaft coupling, which is equipped with rotation and hinders
Buddhist nun's device 207, for increasing the resistance in universal rotational portion.As shown in figure 5, two axis of above-mentioned crossed universal shaft connected device 208 are in ten
Word X-shape, using two axis intersect center as the center of circle, using the straight line where two axis as x-axis and y-axis is made respectively, then with above-mentioned cross
The component that universal shaft connected device 208 connects can rotate respectively around x-axis and y-axis, and if z-axis is made with the axis of connect base 220, it is above-mentioned
Cross universal coupling integrally can also be rotated around z-axis.In other implementations, above-mentioned joint coupling 208 can pass through
Ball-joint is replaced, which can make the component being connected with ball-joint is opposite to connect bottom in the cavity of connect base 220
Seat 220 realizes all-direction rotation.
In the present embodiment, the restraining device 20 that trembles includes three angular transducers 209, one of angle sensor
Device 209 is arranged on the junction in universal rotational portion 208 and connect base 220, is rotated for detecting universal rotational portion 208 around z-axis
Angle, other two angular transducer is located in universal rotational portion 208, for detect universal rotational portion 208 rotating around x-axis and
The angle rotated around y-axis.
In the present embodiment, the fixed part 200 include for carry disturbances in patients with Parkinson disease upper limb supporting plate 203 and
It is located on supporting plate 203 to position the fixation band 201 of the upper limb of disturbances in patients with Parkinson disease, above-mentioned at least one damper 204 is with fixing
One end that portion 200 connects is connected with supporting plate 203, and above-mentioned resetting spring 205 is supported with one end that fixed part 200 abuts and supporting plate 203
It connects.
Specifically, the supporting plate 203 is arranged to be suitable for the shape placed when finger closes up, on supporting plate 203 before and after
Two positions are respectively equipped with two fixed bands 201, the hand with the fixed disturbances in patients with Parkinson disease placed on it of the cooperation of supporting plate 203.When
So, the present invention is unlimited to the shape of supporting plate 203 and the quantity of fixed band 201 and installation position, as long as can suffer from Parkinson
The upper limb of person is fixed on the embodiment of supporting plate 203 all within the scope of protection of the invention.
In the present embodiment, the fixed part 200 further includes pressure sensor 202, which is arranged at
It states on supporting plate 203, the power suffered by the disturbances in patients with Parkinson disease upper limb being positioned on above-mentioned supporting plate 203 can be collected.System during training
The power suffered by the hand of disturbances in patients with Parkinson disease can be detected by pressure sensor 202, when the power that patient hand is subject to is beyond pre-
If scope when, system can training of the emergent stopping to patient, to play the role of safeguard protection.
As shown in figure 3, the serial manipulator 30 include serial machine human body 301 and with serial machine human body 301
Connected link 302, the link 302 can follow above-mentioned serial machine human body 301 to move.
Specifically, the body 301 of serial manipulator includes first connecting rod and second connecting rod, the end of the first connecting rod and the
Two connecting rods are connected by the 3rd joint, and the other end of first connecting rod is connected with second joint, which is mounted on first and closes
The end of section, the first joint be mounted on in the pedestal (not shown) of the above-mentioned serial machine human body 302 of fixation, in addition, second
Connecting rod is connected with the link 302, and by the rotation in 301 each joint of serial machine human body, link 302 can be up to empty
Between any position between move, since the equipment moving scope is wider, therefore the training equipment can be applicable in different building shape, dissimilar arm
Long patient's training.
As shown in figure 4, the display device 40 includes display 402 and supports the stent 401 of the display, the display
Device can receive the above-mentioned related data of restraining device 20 and serial manipulator 30 in the training process of trembling, for real-time display pa
Pertinent image information of the gloomy patient's upper limb of gold when being trained.For example, the upper limb of disturbances in patients with Parkinson disease is when carrying out passive exercise,
Display can be shown carries out interactive entertaining sex play with the upper limb of disturbances in patients with Parkinson disease, and disturbances in patients with Parkinson disease upper limb into
During row active training, display can show movement locus of the upper limb of disturbances in patients with Parkinson disease when being trained.The calculating
Machine 50 is connected with the restraining device 20 that trembles, serial manipulator 30 and display device 40, for handling in training process
Related data, can gather the data of restraining device 20 and serial manipulator 30 in the training process of trembling, and by correlation
Data sending to above-mentioned display device 20 is shown.
Corresponding for slowing down the training equipment of disturbances in patients with Parkinson disease upper limb tremor with above-mentioned, the present invention also provides one kind to subtract
The training method of slow disturbances in patients with Parkinson disease upper limb tremor, including:
The upper limb to be trained of disturbances in patients with Parkinson disease is fixed on and is trembled on restraining device；
The serial manipulator and the cooperation of the upper limb of disturbances in patients with Parkinson disease is controlled to be trained；
Pertinent image information of the disturbances in patients with Parkinson disease upper limb in training is shown on said display means.
Technical scheme is more clearly understood that for convenience, and the present invention is used for below by specific embodiment
The training equipment and training method for slowing down disturbances in patients with Parkinson disease upper limb tremor are further described.For convenience of description, with pa gold
The training method of gloomy patient's upper limb is that foundation distinguishes each embodiment.Wherein, the training method of disturbances in patients with Parkinson disease includes
At least one of：Divide simple joint passive exercise, the compound passive exercise of multi-joint and active training.
Embodiment one：Divide joint passive exercise
Fig. 6 is a kind of training side for being used to slow down disturbances in patients with Parkinson disease upper limb tremor shown in an exemplary embodiment of the invention
Method flow chart, this method include：
In step 601, the hand of disturbances in patients with Parkinson disease is fixed on supporting plate.
In the present embodiment, the hand of disturbances in patients with Parkinson disease can be fixed on supporting plate by fixed band, suffers from Parkinson
The palm of person is closely set in the pressure sensor on supporting plate, which can monitor disturbances in patients with Parkinson disease hand in real time
Stress, when the power that patient hand is subject to exceeds a certain range, training of the system meeting emergent stopping to patient, to play safe guarantor
The effect of shield.
In step 602, the distance between each joint of disturbances in patients with Parkinson disease upper limb is calculated.
In the present embodiment, since different disturbances in patients with Parkinson disease build is different, corresponding brachium is different, therefore shoulder joint is to elbow
The distance between joint (i.e. big brachium) and elbow joint are also different to the distance between wrist joint (i.e. small brachium).Carrying out quilt
During dynamic training, in order to which serial manipulator is allow to be trained according to the brachium size for being trained to patient, it is necessary first to measure and treat
The big brachium and small brachium of training patient.
Specifically, first wrist joint and elbow joint can be fixed with bandage, hand drives shoulder joint independently moving, at this point,
Under the drive of disturbances in patients with Parkinson disease hand, each joint of serial manipulator moves, and can turn each joint of serial manipulator
Angular data is sent to computer preservation；Then, then wrist joint and shoulder joint are saved bandage to fix, hand drives elbow joint individually to transport
It is dynamic, the movement in each joint of serial manipulator can be equally driven, and each joint rotation angle data sending of serial manipulator is extremely calculated
Machine；Similarly, elbow joint and shoulder joint are saved bandage to fix, hand drives wrist joint independently moving, and computer is recorded in wrist joint
Each joint rotation angle data of serial manipulator in the case of independently moving, finally, computer according to each angle data of record simultaneously
The big brachium of disturbances in patients with Parkinson disease and small brachium is calculated by certain algorithm in position with reference to where patient.
In step 603, serial manipulator drives the hand of disturbances in patients with Parkinson disease to carry out simple joint training.
In the present embodiment, serial manipulator can be handled according to step 602 Computer in the disturbances in patients with Parkinson disease drawn
The big brachium and small brachium of limb carry out simple joint training to disturbances in patients with Parkinson disease.
Specifically, for example, when being trained to shoulder joint, wrist joint and elbow joint with bandage can be fixed, connected
Robot drives restraining device movement of trembling, and the restraining device that trembles can be under the collective effect of serial manipulator and patient hand's power
Pose adjustment is carried out, when training patient hand can be made to be in more comfortable posture, the hand of disturbances in patients with Parkinson disease is with shoulder joint
Centered on, with a length of radius of arm, can horizontally rotate with shoulder with high semicircle horizontal plane, it can also be in vertical side
To being rotated vertically, certainly, the present invention is to the rotating manner of hand and is not limited, it is any can be using shoulder joint in
The heart, in the rotating manner of arm within reachable range all within protection scope of the present invention.
Similarly, when being trained to wrist joint and elbow joint, above-mentioned similar mode is also taken to carry out.
In the training process, serial manipulator can drive restraining device movement of trembling, and the restraining device that trembles can connect
Pose adjustment is carried out under the collective effect of robot and patient hand's power, patient hand is made to be in more comfortable posture.Pa gold
When gloomy patient hand trembles, supporting plate can be driven to tremble, supporting plate drives resetting spring movement, at this point, the resetting spring applies hand
An opposite force is added to limit trembling for disturbances in patients with Parkinson disease hand, so as to limit the amplitude that trembles of hand, meanwhile, damping
Device can absorb energy when disturbances in patients with Parkinson disease hand trembles, in this way, resetting spring and damper can inhibit pa with mating reaction
Golden gloomy patient hand's trembles.
During simple joint passive exercise is carried out, using provided by the present invention for slowing down disturbances in patients with Parkinson disease upper limb tremor
Training equipment the myotonia of disturbances in patients with Parkinson disease can also be trained, myotonia refers to that skeletal muscle is not easy to put after shrinking
Pine, cold can make one group of muscle disease that exacerbation of symptoms is, it is popular to say as muscle rigidity, Muscle tensility caused by Parkinson's disease with partially
Hypermyotonia caused by paralysis, paraplegia is different, and Muscle tensility feature caused by Parkinson's disease is that extensors and flexors Muscle tensility is equal
Increase, musculus flexor becomes apparent.Myotonia can cause patient turns, stand, solve button and other everyday actions and can become slow,
And it is more and more difficult, can also facial witless expression, dysphagia and salivation, speech it is dull and slow.
Specifically, when carrying out simple joint training, such as shoulder joint is trained, can first by the wrist joint of patient and
Elbow joint is fixed, and serial manipulator drives restraining device movement of trembling, and the restraining device that trembles can be in serial manipulator and patient's hand
Pose adjustment is carried out under the collective effect of portion's power, patient hand is made to be in more comfortable posture.Then, take turns in the same way
Stream individually trains shoulder joint, wrist joint and elbow joint, so as to achieve the effect that each muscle is trained, reduces Parkinson
The stronger Muscle tensility of patient.
In addition, some interesting game can be shown in the training process, on the display of display device, for example, can
To design some man-machine interactive games, disturbances in patients with Parkinson disease is made to complete joint training while playing game, increases disturbances in patients with Parkinson disease forging
The interest of refining.
Embodiment two：The compound passive exercise of multi-joint
Fig. 7 is the training that the another kind shown in an exemplary embodiment of the invention is used to slow down disturbances in patients with Parkinson disease upper limb tremor
Method flow diagram, as shown in fig. 7, the training method includes：
In step 701, the hand of disturbances in patients with Parkinson disease is fixed on supporting plate.
In the present embodiment, the hand of disturbances in patients with Parkinson disease can be fixed on supporting plate by fixed band, suffers from Parkinson
The palm of person is closely set in the pressure sensor on supporting plate, which can monitor disturbances in patients with Parkinson disease hand in real time
Stress, when the power that patient hand is subject to exceeds a certain range, training of the system meeting emergent stopping to patient, to play safe guarantor
The effect of shield.
In a step 702, the distance between each joint of disturbances in patients with Parkinson disease upper limb is calculated.
In the present embodiment, since different disturbances in patients with Parkinson disease build is different, corresponding brachium is different, therefore shoulder joint is to elbow
The distance between joint (i.e. big brachium) and elbow joint are also different to the distance between wrist joint (i.e. small brachium).Carrying out quilt
During dynamic training, in order to which serial manipulator is allow to be trained according to the brachium size for being trained to patient, it is necessary first to measure and treat
The big brachium and small brachium of training patient.
Specifically, first wrist joint and elbow joint can be fixed with bandage, hand drives shoulder joint independently moving, at this point,
Under the drive of disturbances in patients with Parkinson disease hand, each joint of serial manipulator moves, and can turn each joint of serial manipulator
Angular data is sent to computer；Then, then wrist joint and shoulder joint to be saved bandage to fix, hand drives elbow joint independently moving,
It can equally drive the movement in each joint of serial manipulator, and by each joint rotation angle data sending of serial manipulator to computer；
Similarly, elbow joint and shoulder joint are saved bandage to fix, hand drives wrist joint independently moving, and it is independent that computer is recorded in wrist joint
Each joint rotation angle data of serial manipulator in the case of movement, finally, computer is according to each angle data of record and combines
The big brachium of disturbances in patients with Parkinson disease and small brachium is calculated by certain algorithm in position where patient.
In step 703, serial manipulator drives the hand of disturbances in patients with Parkinson disease to carry out the compound passive exercise of multi-joint.
In the present embodiment, serial manipulator can be handled according to step 702 Computer in the disturbances in patients with Parkinson disease drawn
The big brachium and small brachium of limb carry out the compound passive exercise of multi-joint to disturbances in patients with Parkinson disease.
Specifically, it is fixed without any joint to disturbances in patients with Parkinson disease upper limb, serial manipulator can drive pa golden
Shoulder joint, elbow joint and the wrist joint of gloomy patient's upper limb move simultaneously, and so the myotonia of disturbances in patients with Parkinson disease can be carried out
Training reduces the stronger Muscle tensility of disturbances in patients with Parkinson disease.In the training process, under the drive of serial manipulator, disturbances in patients with Parkinson disease
Shoulder joint, wrist joint and elbow joint move at the same time, so as to play the effect of the entire muscle group of training, reduce Parkinson and suffer from
The stronger Muscle tensility of person.
When disturbances in patients with Parkinson disease hand trembles, supporting plate can be driven to tremble, supporting plate drives resetting spring movement, at this point, this is multiple
Position spring applies an opposite force to hand and trembles to limit disturbances in patients with Parkinson disease hand, so as to which the amplitude that trembles to hand carries out
Limitation, meanwhile, damper can absorb energy when disturbances in patients with Parkinson disease hand trembles, in this way, resetting spring and damper can be with
Mating reaction inhibits trembling for disturbances in patients with Parkinson disease hand.
In the present embodiment, serial manipulator drives the motion mode of disturbances in patients with Parkinson disease hand unlimited, can be straight line fortune
Other curvilinear motions such as dynamic, diagonal movement, circular motion, the present invention is to this and is not limited.Equally, the display of display device
It can show some interesting game on device, such as the compound passive exercise of multi-joint specifically for disturbances in patients with Parkinson disease upper limb
Interactive game increases the interest that disturbances in patients with Parkinson disease is taken exercise.
Embodiment three：Active training
Passive exercise is the upper extremity exercise that serial manipulator drives disturbances in patients with Parkinson disease, and active training is disturbances in patients with Parkinson disease
Upper limb drives serial manipulator movement.Fig. 8 is that the another kind shown in an exemplary embodiment of the invention is suffered from for slowing down Parkinson
The training method flow chart of person's upper limb tremor, as shown in figure 8, training method includes：
In step 801, the hand of disturbances in patients with Parkinson disease is fixed on supporting plate.
In the present embodiment, the hand of disturbances in patients with Parkinson disease can be fixed on supporting plate by fixed band, suffers from Parkinson
The palm of person is closely set in the pressure sensor on supporting plate, which can monitor disturbances in patients with Parkinson disease hand in real time
Stress, when the power that patient hand is subject to exceeds a certain range, training of the system meeting emergent stopping to patient, to play safe guarantor
The effect of shield.
In step 802, the upper limb of disturbances in patients with Parkinson disease actively drives serial manipulator to move.
In the present embodiment, the upper limb of disturbances in patients with Parkinson disease is by driving the movement of restraining device of trembling, so as to drive series connection
The movement in each joint of robot, while the upper extremity exercise of disturbances in patients with Parkinson disease, computer real-time acquisition serial manipulator and shake
The data quivered in restraining device, and by the movement locus real-time display of disturbances in patients with Parkinson disease upper limb on the display of display device,
Disturbances in patients with Parkinson disease can be encouraged to play an active part in training.
During active training, disturbances in patients with Parkinson disease hand also trembles while active movement, so as to drive support
Plate trembles, and supporting plate drives resetting spring movement, suffers from this point, the resetting spring applies an opposite force to hand to limit Parkinson
Person's hand trembles, so as to limit the amplitude that trembles of hand, meanwhile, damper can absorb the shake of disturbances in patients with Parkinson disease hand
Energy when quivering, in this way, resetting spring and damper can inhibit trembling for disturbances in patients with Parkinson disease hand with mating reaction.
In order to increase the training strength of disturbances in patients with Parkinson disease, impedance training can also be carried out to disturbances in patients with Parkinson disease, at this point, series connection
Each joint of robot can provide resistance, and the hand of disturbances in patients with Parkinson disease is acted on by the restraining device that trembles, suffers from Parkinson
The hand of person carries out rehabilitation training under resistance.During impedance is trained, it can be shown on the display of display device
Some training games for example, training fighting will for excitation disturbances in patients with Parkinson disease, increase some game with antagonism.
Compared to the prior art, provided by the present invention for slowing down training equipment and the training of disturbances in patients with Parkinson disease upper limb tremor
Method has the following advantages：
1st, it can be not only used for slowing down the training of disturbances in patients with Parkinson disease upper limb tremor, may further be used to the myotonia to disturbances in patients with Parkinson disease
It is trained, reduces the stronger Muscle tensility of disturbances in patients with Parkinson disease.
2nd, the single joint of disturbances in patients with Parkinson disease upper limb can be not only trained, can also realizes the compound training of multi-joint
It is trained with impedance, contributes to the recovery of disturbances in patients with Parkinson disease upper limb joint mobility；
3rd, the training equipment for slowing down disturbances in patients with Parkinson disease upper limb tremor is applicable to the disturbances in patients with Parkinson disease progress health of different building shape
Multiple treatment, has stronger ecad；
4th, in the restraining device that trembles, trembling for disturbances in patients with Parkinson disease upper limb is inhibited using resetting spring and damper cooperation,
Simple in structure, the disturbances in patients with Parkinson disease inhibition for being adaptable to different frequencies of trembling is trembled；
5th, in passive exercise, the brachium of disturbances in patients with Parkinson disease can be measured in advance, serial manipulator is according to the pas of different brachiums
The gloomy patient of gold carries out different degrees of movement, avoids patient injured in training；
6th, human-computer interaction game is added in the training process, improves the enthusiasm of disturbances in patients with Parkinson disease training.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope that this specification is recorded all is considered to be.
Embodiment described above only expresses the several embodiments of the present invention, and description is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that come for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
- A kind of 1. training equipment for being used to slow down disturbances in patients with Parkinson disease upper limb tremor and myotonia, which is characterized in that the training equipment Including：Tremble restraining device, for fixing the upper limb of disturbances in patients with Parkinson disease and inhibiting the shake that disturbances in patients with Parkinson disease occurs in the training process It quivers behavior；Serial manipulator is connected with the restraining device that trembles, for disturbances in patients with Parkinson disease to be coordinated to train；Display device can receive the related data of restraining device and serial manipulator in the training process of trembling, for reality When show pertinent image information of the disturbances in patients with Parkinson disease upper limb when being trained；Computer is connected with the restraining device that trembles, serial manipulator and display device, for handling in training process Related data.
- 2. trained equipment according to claim 1, which is characterized in that the restraining device that trembles includes fixing pa gold It the fixed part of gloomy patient's upper limb and quivers portion with the shock absorbing that the fixed part is connected.
- 3. trained equipment according to claim 2, which is characterized in that the shock absorbing quiver portion include installing plate, resetting spring With at least one damper, the both ends of the resetting spring abut the fixed part and the installing plate respectively, and described at least one The both ends of a damper connect the installing plate and the fixed part respectively.
- 4. trained equipment according to claim 3, which is characterized in that the restraining device that trembles is further included connects with described The connect base of robot connection and the universal rotational portion of the connection installing plate.
- 5. trained equipment according to claim 4, which is characterized in that the restraining device that trembles includes three angle sensors Device, one of them is arranged on the junction in the universal rotational portion and the connect base, for detecting the universal rotational portion The angle rotated around z-axis, other two angular transducer is located in universal rotational portion, for detecting the universal rotational portion around x Axis and the angle rotated around y-axis.
- 6. trained equipment according to claim 4, which is characterized in that the universal rotational portion is crossed universal shaft shaft coupling, The crossed universal shaft shaft coupling is equipped with rotary damper.
- 7. trained equipment according to claim 3, which is characterized in that the fixed part includes carrying disturbances in patients with Parkinson disease Upper limb supporting plate and be located on the supporting plate for position disturbances in patients with Parkinson disease upper limb fixation band, it is described at least one Damper is connected with one end that the fixed part is connected with the supporting plate, one end that the resetting spring is abutted with the fixed part It is abutted with the supporting plate.
- 8. trained equipment according to claim 7, which is characterized in that the fixed part, which further includes, to be arranged on the supporting plate Pressure sensor.
- 9. trained equipment according to claim 1, which is characterized in that seat is further included, between the restraining device that trembles Every setting and being located at the front end of the restraining device that trembles, taken for Parkinsonian to be trained.
- 10. a kind of training method for being used to slow down disturbances in patients with Parkinson disease upper limb tremor, which is characterized in that including：The upper limb to be trained of disturbances in patients with Parkinson disease is fixed on and is trembled on restraining device；The serial manipulator and the cooperation of the upper limb of disturbances in patients with Parkinson disease is controlled to be trained；Pertinent image information of the disturbances in patients with Parkinson disease upper limb in training is shown on said display means.
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| CN201711145209.7A CN108078733B (en) | 2017-11-17 | 2017-11-17 | Training equipment and method for relieving upper limb tremor and muscular rigidity of Parkinson patient |
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