CN109276407A - Elbow joint trains adapter, rehabilitation training equipment and its Training Control method - Google Patents
Elbow joint trains adapter, rehabilitation training equipment and its Training Control method Download PDFInfo
- Publication number
- CN109276407A CN109276407A CN201811151887.9A CN201811151887A CN109276407A CN 109276407 A CN109276407 A CN 109276407A CN 201811151887 A CN201811151887 A CN 201811151887A CN 109276407 A CN109276407 A CN 109276407A
- Authority
- CN
- China
- Prior art keywords
- elbow joint
- adapter
- training
- suffering limb
- angle position
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 210000002310 elbow joint Anatomy 0.000 title claims abstract description 86
- 238000012549 training Methods 0.000 title claims abstract description 86
- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000008859 change Effects 0.000 claims abstract description 61
- 238000001514 detection method Methods 0.000 claims abstract description 39
- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 210000003205 muscle Anatomy 0.000 claims abstract description 18
- 230000035876 healing Effects 0.000 claims abstract description 12
- 210000003414 extremity Anatomy 0.000 claims description 63
- 210000000245 forearm Anatomy 0.000 claims description 22
- 125000006850 spacer group Chemical group 0.000 claims description 7
- 230000000153 supplemental effect Effects 0.000 claims description 5
- 206010023230 Joint stiffness Diseases 0.000 abstract description 2
- 239000000306 component Substances 0.000 description 20
- 208000005392 Spasm Diseases 0.000 description 16
- 238000010586 diagram Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 230000007704 transition Effects 0.000 description 5
- 206010008190 Cerebrovascular accident Diseases 0.000 description 4
- 208000006011 Stroke Diseases 0.000 description 4
- 230000002490 cerebral effect Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 206010033799 Paralysis Diseases 0.000 description 3
- 210000004556 brain Anatomy 0.000 description 3
- 238000000354 decomposition reaction Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 208000012661 Dyskinesia Diseases 0.000 description 2
- 206010062575 Muscle contracture Diseases 0.000 description 2
- 208000006111 contracture Diseases 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000001965 increasing effect Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000007659 motor function Effects 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 208000020431 spinal cord injury Diseases 0.000 description 2
- 206010060820 Joint injury Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000001154 acute effect Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 208000029028 brain injury Diseases 0.000 description 1
- 230000002612 cardiopulmonary effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 235000019628 coolness Nutrition 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000005242 forging Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- ZMNSRFNUONFLSP-UHFFFAOYSA-N mephenoxalone Chemical compound COC1=CC=CC=C1OCC1OC(=O)NC1 ZMNSRFNUONFLSP-UHFFFAOYSA-N 0.000 description 1
- 229960001030 mephenoxalone Drugs 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 201000006417 multiple sclerosis Diseases 0.000 description 1
- 230000001537 neural effect Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 230000001575 pathological effect Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000000554 physical therapy Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000007670 refining Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 208000024891 symptom Diseases 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0277—Elbow
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/005—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/1281—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 primarily by articulating the elbow joint
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
-
- 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
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/18—Inclination, slope or curvature
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/54—Torque
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2230/00—Measuring physiological parameters of the user
- A63B2230/60—Measuring physiological parameters of the user muscle strain, i.e. measured on the user
Landscapes
- Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biophysics (AREA)
- Animal Behavior & Ethology (AREA)
- Rehabilitation Therapy (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention discloses a kind of elbow joint training adapter, healing and training elbow joint equipment and its Training Control method, and elbow joint training adapter includes elbow joint adapter and motion control host.Elbow joint adapter includes adjuster, position adjusting mechanism and joint fixing part, and the joint fixing part can be connected on the adjuster with adjusting by the position adjusting mechanism.Motion control host includes driving motor and control module, and the adjuster connect the output shaft relative to the driving motor with the driving motor and can rotate, and the control module is connect with the driving motor.Control module includes Angle Position change detection module, current of electric change detection module and mode selection module.The present invention can effectively assist patient to carry out joint exercise, promote muscle strength, improve range of motion, and stiff joint is loosened in drawing-off.
Description
Technical field
The present invention relates to medical instruments fields more particularly to a kind of elbow joint training adapter, healing and training elbow joint to set
Standby and its Training Control method.
Background technique
In public exercise rehabilitation training field, cerebral apoplexy, multiple sclerosis, spinal cord injury, brain paralysis influence millions of people's
Life.For the patient that most of nervous function is damaged, dyskinesia is often increased with limb spasm related, and physiotherapy is existing
The main means of stage rehabilitation training, but the status of existing training technique has many limitations.
In traditional stretching treatment, stretching, auxiliary and other physics intervention gimmick is can be used to mitigate in physiotherapist
The spasm and contracture of patient limb restore balance, harmony and joint and the motor function of limbs of patient.However, passing
System is caused high effort for by the stretching of physics gimmick, and general therapeutic teacher needs arduously to be stretched the four limbs of patient's spasm with hand；
Meanwhile the intensity stretched by hand depends on the experience and subjective feeling of therapist.
In inducing active movement training, if patient is due to that cannot generate without physiotherapist or the auxiliary of equipment
The active limb of continuous-stable moves, so being difficult to attempt by the movement of itself to reach and restore extremity motor function completely
Purpose.Further, since shortage knowledge of rehabilitation or over training, patient may during attempting to carry out autonomous limb motion
Potentially aggravate degree of injury.
Due to the shortage of therapist's resource, patient cannot get the exercise rehabilitation training of sufficient amount, so as to cause short-term health
Refreshment effect of doing exercises cannot maintain long time.
Traditional passive drawing training device (CPM, continuous passive motion) is widely used in hospital
In the family of patient.CPM is mainly provided in the joint microinching in the fixed range pre-established, to prevent from gluing after kan setsu waza
Even, anchylosis is reduced.Its technology limitation is that CPM machine is between two preset articulated positions with slower constant
The mobile limbs of speed or joint.Although system can provide very big stretch force moment, in entire drawing process, due to it
The limitation of mechanical structure cannot detect the resistance that suffering limb is generated due to spasm, so preset motion range usually less than closes
The range of flexible motion is saved, otherwise the danger of joint injury will increase.It is passive to pull function usually not under this function restriction
It can be stretched to the higher position of limited Muscle tensility, and this physiological location exactly contracture and spasm most visibility point,
It is to really need physiological location that is with high safety and effectively stretching.Due to lacking the detection to human synovial resistance, so traditional
Continuous passive drawing training aids cannot be used for the rehabilitation of the dyskinesia due to caused by neurotrosis.
In recent years, another kind of active assisted class training equipment was used to help improve based on multi-freedom robot product
Control and neural rehabilitation of the patient to the active movement of limbs after cerebral apoplexy and other neurotrosises.But from Point of View of Clinical
It sees, for patient's (such as cerebral apoplexy, brain paralysis etc.) with high Muscle tensility/limb spasm, it is necessary to consider Muscle tensility variation or flesh
Group's spasm problem could implement suitable autonomous synkinesia and train, but to train equipment often to ignore such for existing assisted class
Pathological characters directly implement supplemental training to patient, do not solve the prerequisite function of Muscle tensility variation or muscle group spasm, Ci Zhongmo
The problem of formula is likely to result in patient during supplemental training, high Muscle tensility/limb spasm more deteriorates.
In addition, some training experiment platform robots, the resistance generated by suffering limb spasm or active can be accurately measured
Movement tendency, but the realization for being limited in that entire function and control of its technology is depended on to additional Cont rol Method of Precise Force/moment sensing
The use of device.So structure determines that the cost of whole system increases, price is prohibitively expensive, be not suitable in grass-roots community and
Family widely uses.And due to the difference of structure composition, device can only provide active-assistive exercise training function, same
On device, the passive drawing with larger output torque cannot be realized simultaneously, ignore controlling for active/passive training combination
Assessment after treatment mode and training.
Intelligent rehabilitation training system is furnished with safeguard measure, spasm once occurs in patient's use process, machine will start intelligence
Energy counter motion mode, to alleviate spasm symptom.Although there is actively and passively mode, due to Design of Mechanical Structure and movement
The limitation of control technology is only possible to produce the joint limb motion of repeatability；It, cannot to the limb spasm problem of brain injury patients
Targeted flexibility of joint drawing-off is provided.Training mode provided by such product is confined to basic Exercycle movement
Mode is suitble to improve cardiopulmonary ability and keeps basic exercise ability, but improves limb spasm problem for alleviating, very limited.
Domestic commercialized product simultaneously mainly includes that (continuity is passive for walking training bed, foot-operated self vehicle type training aids and CPM instrument
Motion rehabilitation equipment) etc. forms, it is for the training product of elbow joint seldom, for cerebral apoplexy, brain paralysis spinal cord injury, etc. can patient
Product is with regard to less.
Summary of the invention
In view of problems of the prior art, present invention firstly provides a kind of elbow joint training adapters, at least
Partly solve the deficiencies in the prior art.
Elbow joint training adapter provided by the invention, comprising:
Elbow joint adapter, the elbow joint adapter include adjuster, position adjusting mechanism and joint fixing part, described
Joint fixing part can be connected on the adjuster with adjusting by the position adjusting mechanism；And
Motion control host, the motion control host include driving motor and control module, the adjuster with it is described
Driving motor connection can be rotated relative to the output shaft of the driving motor, and the control module is connect with the driving motor；
Wherein, the control module includes:
Angle Position change detection module, the active movement for detecting suffering limb drive the adjuster to move synchronously and generate
Angle Position variation；
Current of electric change detection module, the motor driven that torque is applied to the adjuster and is generated for detecting suffering limb
In curent change；And
Mode selection module connects respectively with the Angle Position change detection module and the current of electric change detection module
Connect, with according to the Angle Position variation and/or the curent change selection using proper drag mode, stretch mode, auxiliary and
Resistance mode induces active movement mode.
Preferably, the position adjusting mechanism includes sliding block and sliding rail, and the sliding rail is fixedly connected with the adjuster, institute
It states sliding block to be slidably matched with the sliding rail, the joint fixing part is connected with the sliding block.
Preferably, the joint fixing part includes:
Adjustment plate, the adjustment plate are connected with the slide block；
The forearm constraint component of forearm can be clamped up and down, and the forearm constraint component is mounted in the adjustment plate；With
And
Can for hand grasp palm constraint component, the palm constraint component be mounted in the adjustment plate and with it is described
Setting before and after the relatively described adjustment plate of forearm constraint component.
Preferably, the forearm constraint component includes longitudinally mounted plate and two lateral confinement columns, the longitudinally mounted plate
It is connect with the adjustment plate, two lateral confinement columns can be mounted on the longitudinally mounted plate with adjusting, and two cross
There is the longitudinal pitch that can constrain forearm between constraint column.
Preferably, longitudinal chute is provided on the longitudinally mounted plate, the lateral confinement column includes intermediate cylinder and set
The soft cylinder being located on the intermediate cylinder, one end of the intermediate cylinder are connected with adjustment sliding block, the adjustment sliding block and institute
Longitudinal chute is stated to match.
Preferably, the palm constraint component includes:
Side plate, the side plate are connect by a mounting plate with the adjustment plate；And
Ball is grasped, the grasping ball is connect by a transverse strands with the mounting plate；
Wherein, described grasp has the horizontal spacing that can be inserted into for palm between ball and the side plate.
Preferably, the adjuster includes limit assembly and spacer pin, and the limit assembly is defeated with the driving motor
Shaft is connected, and the limit assembly includes limiting slot, and the sliding rail is matched by the spacer pin and the limiting slot
Conjunction is adjustably connected to the limit assembly.
The present invention further provides a kind of healing and training elbow joint equipment, including the sliding bottom with guide rail, height adjustment
Mechanism, above-mentioned elbow joint training adapter, display device and rotatably trained seat.Height adjustment mechanism is mounted on described
On sliding bottom.Elbow joint training adapter is mounted on the height adjustment mechanism.Display device is adjustable by screen mount
It is supported in the top of the motion control host.Rotary training seat is arranged on the guide rail the relatively described elbow joint training
Adapter position-adjustable.
Preferably, it rotatably is provided with upper arm constraint component on training seat, the upper arm constraint component includes telescopic rod
And the upper arm adapter of half opening compatible with upper arm, the upper arm adapter are connected to by the way that the telescopic rod is adjustable
On the rotary trained seat.
Healing and training elbow joint is carried out using above-mentioned healing and training elbow joint equipment the present invention further provides a kind of
Control method, comprising:
Proper drag scheme control: the active movement of the Angle Position change detection module detection suffering limb drives the elbow to close
The Angle Position that section adapter is moved synchronously and generated changes, and the mode selection module becomes according to Angle Position described in the unit time
Change, control motor driven is generated along current control amount identical with the Angle Position change direction, and mechanical resistance is overcome to drive
Motor drives the elbow joint adapter to move along direction identical with the suffering limb direction of motion；
Stretch mode control: the current of electric change detection module detection applies the elbow joint adapter due to suffering limb
Reinforcing square and the curent change in the motor driven that generates, the mode selection module adjust motor rotation speed according to curent change
Degree and range are used to stretch suffering limb muscle with the velocity of rotation and range that adjust the suffering limb；
Auxiliary and resistance mode control: the Angle Position change detection module detects the Angle Position of the elbow joint adapter
Variation, the mode selection module change according to the Angle Position, calculate required auxiliary identical with the suffering limb direction of motion
The size of power or the resistance opposite with the suffering limb direction of motion, to control the motor to described in elbow joint adapter application
Auxiliary force or resistance, so that the suffering limb carries out supplemental training or resistance exercise；
Induce active movement scheme control: the Angle Position change detection module detection is since suffering limb is suitable to the elbow joint
Orchestration applies torque and the curent change that generates, the mode selection module by the detected curent change calculate because
The autokinetic movement of suffering limb and the moment variations generated, the motor driven is controlled when the moment variations are less than a particular value
To drive suffering limb to do exemplary passive movement, and the movement of limbs is fed back to patient in a manner of vision or the sense of hearing, then
It allows patient to do autokinetic movement, and the moment variations after change ratio is fed back into patient.
The design of present invention combination elbow joint adapter and motion control host can effectively assist patient to carry out joint forging
Refining, muscle strength improve range of motion, and stiff joint is loosened in drawing-off；In addition, due to according to Angle Position variation and curent change
The variation of Muscle tensility is monitored, implements flexible adaptive drawing-off treatment, that is, dynamic monitoring joint kinematic parameter is guaranteeing safety
On the basis of validity, the strength that can be accurately regulated the speed to greatest extent with drawing-off range of motion is economical and practical, structure is simple
It is single.Patient can be facilitated cosily to use in own home, increase training for treatment frequency, shorten recovery period.Compared to pervious instruction
Practice equipment, the present invention can cut down the volume, weight and manufacturing cost of rehabilitation training system significantly, and patient can at home and work as
Ground clinic uses inexpensive training equipment；For Patients with Acute, patient can also be during early stage bed rehabilitation, and obtaining must
The convenient rehabilitation training wanted.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present invention, and of the invention shows
Examples and descriptions thereof are used to explain the present invention for meaning property, does not constitute improper limitations of the present invention.
Fig. 1 a is the overall schematic (looking up from a side) of the healing and training elbow joint equipment of one embodiment of the invention；
Fig. 1 b is the overall schematic (looking up from another party) of the healing and training elbow joint equipment of one embodiment of the invention；
Fig. 2 is the structural block diagram of the control module of elbow arm joint of the present invention training adapter；
Fig. 3 is the structural schematic diagram (looking up from a side) of the elbow joint adapter in Fig. 1；
Fig. 4 is the structural schematic diagram (looking up from another party) of the elbow joint adapter in Fig. 1；
Fig. 5 is the structural schematic diagram (looking up from another party) of the elbow joint adapter in Fig. 1；
Fig. 6 is the top view of the elbow joint adapter in Fig. 1；
Fig. 7 is the decomposition diagram (looking up from a side) of the elbow joint adapter in Fig. 1；
Fig. 8 is the decomposition diagram (looking up from another party) of the elbow joint adapter in Fig. 1；
Fig. 9 is the decomposition diagram (removing joint fixing part) of the elbow joint adapter in Fig. 1.
Specific embodiment
In order to enable the object, technical solutions and advantages of the present invention become apparent, root is described in detail below with reference to accompanying drawings
According to example embodiments of the present invention.Obviously, described embodiment is only a part of the embodiments of the present invention, rather than this hair
Bright whole embodiments, it should be appreciated that the present invention is not limited by example embodiment described herein.Based on described in the present invention
The embodiment of the present invention, those skilled in the art's obtained all other embodiment in the case where not making the creative labor
It should all fall under the scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The term of the orientation or positional relationship of instructions such as "horizontal", "inner", "outside", " preceding " and " rear " is to close relative to standing in the elbow
For the surrounding observer or patient that save rehabilitation training equipment, it is merely for convenience of description of the present invention and simplification of the description, without
It is that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore not
It can be interpreted as limitation of the present invention.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For electricity and the communications field, it can be wired connection, be also possible to be wirelessly connected.For
For those skilled in the art, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
As shown in Figure 1a, the present invention provides a kind of healing and training elbow joint equipment, including the sliding bottom with guide rail
800, height adjustment mechanism 300, elbow arm joint training adapter 1000, display device 400 and rotatably training seat 500.
Height adjustment mechanism 300 is mounted on sliding bottom 800.Elbow joint training adapter 1000 is mounted on height adjustment mechanism 300
On.Motion control host of the display device 400 by screen mount adjustable supports in elbow joint training adapter (can hereinafter be done
Introduce) top.Opposite elbow joint training adapter position-adjustable is arranged on guide rail 600 in rotary training seat 500.It is sliding
Dynamic pedestal 800 is locked on guide rail 600, and 600 position of opposite rail is adjustable.Guide rail 600 includes that the first guide rail 601 and second is led
Rail 602, the first guide rail 601 and the second guide rail 602 are butted into T-shaped slide rail, and sliding bottom 800 is slidably matched with the first guide rail 601,
Rotary training seat 500 is slidably matched with the second guide rail 602.
Illustratively, b, rotary train are provided with upper arm constraint component 900, upper arm constriction on seat 500 refering to fig. 1
Part 900 includes the upper arm adapter 920 of telescopic rod 910 and half opening compatible with upper arm, and upper arm adapter 920 passes through flexible
Bar 910 is adjustable to be connected on rotary training seat 500.Telescopic rod 910 is articulated on rotary training seat 500, from
And opposing rotary training seat 500 can be rotated.Upper arm adapter 920 can cooperate bandage to use, can when carrying out rehabilitation training
Upper arm is fixed on upper arm adapter 920 using bandage.
Specifically, referring again to Fig. 1 a, elbow joint training adapter 1000 includes elbow joint adapter 100 and movement control
Host processed.Motion control host includes driving motor 200 and control module 700.
In conjunction with refering to 2, control module 700 includes Angle Position change detection module 710, current of electric change detection module
720 and mode selection module 730, the active movement that Angle Position change detection module 710 is used to detect suffering limb drives the tune
The Angle Position that section device is moved synchronously and generated changes；Current of electric change detection module 720 applies adjuster for detecting suffering limb
Reinforcing square and the curent change in the motor driven that generates；Mode selection module 730 and Angle Position change detection module 710 and electricity
Machine curent change detection module 720 is separately connected, solid to be used according to Angle Position variation and/or curent change selection
There are resistance mode, stretch mode, auxiliary and resistance mode or induces active movement mode.
Specifically, referring again to Fig. 1 a and Fig. 1 b, under passive exercise mode, the driving motor 200 drives described
Elbow joint adapter 100 moves, and then the forearm of patient is driven to be trained elbow joint；It is described under active training mode
Driving motor 200 does not work, and drives the elbow joint adapter 100 to move by the autokinetic movement of patient, to make patient's elbow
It is trained in joint.Preferably, in patient after passive exercise after a period of time, detection can select to lead again after reaching requirement
Dynamic training.
It as shown in Figures 3 to 6, is the structure chart of the elbow joint adapter 100 of the embodiment of the present invention, elbow joint adapter
100 include adjuster 110, position adjusting mechanism 120 and joint fixing part 130, and joint fixing part 130 passes through position adjusting mechanism
120 can be connected on adjuster 110 with adjusting, and adjuster 110 connect the output shaft of opposite driving motor with driving motor 200
It can rotate.
Illustratively, in conjunction with refering to Fig. 7 to Fig. 8, adjuster 110 includes limit assembly 1110 and spacer pin 112, limit group
Part 1110 is connected with the output shaft 202 of driving motor 200, and limit assembly 1110 includes limiting slot 11111.Position is adjusted
Mechanism 120 includes sliding rail 121, and sliding rail 121 is adjustably connected to limit by the cooperation of spacer pin 112 and limiting slot 11111
Component 1110.
Specifically, limit assembly 1110 includes connector sleeve 1111, manipulation joint element for bar 1112, exempts from key bushing 1113 and end
Lid 11114, connector sleeve 1111 are connect with the flange 201 of driving motor 200, and limiting slot 11111 is arranged on connector sleeve 1111, behaviour
The control stick 1116 for facilitating position to adjust is provided on vertical pole connector 1112, exempt from the connecting shaft 1115 of 1113 one end of key bushing with
Sliding rail 121 is fixedly connected, and the bushing 1117 and manipulation joint element for bar 1112 of the other end cooperate, and is manipulated and is arranged on joint element for bar 1112
Have a through-hole, 112 one end of spacer pin with exempt from that key bushing 1113 is connect, the other end passes through through-hole and limit on manipulation joint element for bar 1112
Position slot 11111 cooperates, and sliding rail 121 is covered after connecting with connecting shaft 1115 by end cap 11114.Being somebody's turn to do based on limit assembly 1110
Kind structure setting, sliding rail 121 are adjustable with respect to the initial angle of the output shaft 202 of driving motor 200.
In conjunction with refering to Fig. 9, position adjusting mechanism 120 includes sliding rail 121 and multiple sliding blocks, and multiple sliding blocks and sliding rail 121 are sliding
Dynamic cooperation.Joint fixing part 130 is connected by its adjustment plate 131 with sliding block.Illustratively, there are four sliding blocks, two of them
Sliding block is fixedly connected with adjustment plate 131, and another two sliding block is connect with transition mounting plate 124, in order to be distinguished with showing, with adjustment plate
The sliding block of 131 connections is also movable slider 1221, and the sliding block connecting with transition mounting plate 124 is also fixed sliding block 1222.Specifically
For, joint fixing part 130 is arranged in adjustment plate 131, and aperture 1241, movable slider are provided on transition mounting plate 124
1221 connect through aperture 1241 with adjustment plate 131, so that joint fixing part 130 is with respect to 121 position of sliding rail also fine-tuning section；It crosses
It crosses mounting plate 124 to connect with fixed sliding block 1222, in this way, adjustment plate 131 is adjusted, so as to adjust when locking movable slider 1221
Save the front-rear position of 130 relative adjustment device 110 of joint fixing part.Illustratively, transition mounting plate 124 is connected with cover board 123, with
Multiple sliding blocks are covered in the cavity that transition mounting plate 124 and cover board 123 form.
In conjunction with refering to Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7 and Fig. 8, joint fixing part 130 includes adjustment plate 131, forearm constraint
Component 1320 and palm constraint component 1330.Adjustment plate 131 is connect with sliding block, and specific connection type has above been introduced.
For clamping forearm up and down, forearm constraint component 1320 is mounted in adjustment plate 131 forearm constraint component 1320, preceding
Arm constraint component 1320 includes longitudinally mounted plate 1321 and two lateral confinement columns 1322, longitudinally mounted plate 1321 and adjustment plate
131 connections, two lateral confinement columns 1322 can be mounted on longitudinally mounted plate 1321 with adjusting, and two lateral confinement columns
There is the longitudinal pitch M that can constrain forearm between 1322.Longitudinal chute, lateral confinement column are provided on longitudinally mounted plate 1321
1322 include intermediate cylinder 13221 and the soft cylinder 13222 being set on intermediate cylinder 13221, one end of intermediate cylinder 13221
It is connected with adjustment sliding block 1324, adjustment sliding block 1324 is matched with the longitudinal chute on longitudinally mounted plate 1321, thus laterally about
Relatively longitudinally mounted 1321 upper and lower position of plate of beam column 1322 is adjustable, and the other end of intermediate cylinder 13221 is connected with lid
13223, it falls off from intermediate cylinder 13221 to avoid soft cylinder 13222.
Palm constraint component 1330 is used to grasp for hand to constrain palm, and palm constraint component 1330 is mounted on adjustment plate
With respect to being arranged before and after adjustment plate 131 on 131 and with forearm constraint component 1320, palm constraint component includes side plate 1331 and grasps
Ball 1332, side plate 1331 are connect by a mounting plate 1334 with adjustment plate 131, are grasped ball 1332 and are passed through a transverse strands 1333 and peace
Loading board 1334 connects, and grasping has the horizontal spacing d that can be inserted into for palm between ball 1332 and side plate 1331.Grasp ball 1332
Be arranged in transverse strands 1333 by a connecting shaft 1335 and fixed by a locking member 13331, preferably, transverse strands 1333 with
It is connected between mounting plate 1334 by a connecting shaft, to grasp ball 1332 with respect to 131 adjustable angle of adjustment plate.
Under control model, activity point of view can be set the present invention, can set 3 location parameters: elbow joint respectively
Activity zero point, maximum extension, maximum flexion.Drawing-off elbow joint can be arranged according to the actual conditions of patient's elbow joint in drawing-off intensity
Maximum extension and maximum flexion data.Training device is for the flexion angle setting range of maximum extension ability of elbow joint
5 °~95 °, the flexion angle setting range of maximum flexion ability is 5 °~95 °.
It should be noted that the stretching, extension in the present invention refers to: movement forearm makes forearm, and large arm is close on straight line
Movement；Buckling in the present invention refers to: movable elbow joint makes forearm and large arm at the movement of angle.
Control module of the invention can pull intensity, speed by monitoring limbs resistance or Muscle tensility variation with soft readjustment
Degree and motion range, to safely and effectively reduce Muscle tensility, alleviation and inhibit spasm.Can provide effective elbow joint dorsiflex/
Curvature movement guidance, induces elbow joint autokinetic movement, tone up the muscles strength.
The present invention also provides a kind of methods for carrying out healing and training elbow joint using above-mentioned apparatus, and the method includes following
Step: following one or more modes are needed to be implemented according to suffering limb training: 1) the proper drag mode of bucking-out system.In the mode
In, the active movement of the Angle Position change detection module detection suffering limb drives the elbow joint adapter to move synchronously and generate
Angle Position variation, the mode selection module change according to Angle Position described in the unit time, control motor driven generation edge
Current control amount identical with the Angle Position change direction, overcome mechanical resistance driving motor to drive elbow joint adaptation
Device is moved along direction identical with the suffering limb direction of motion, so that suffering limb carries out free movement.2) stretch mode.In the mode
In, the current of electric change detection module detection is due to the motor that suffering limb applies torque to the elbow joint adapter and generates
Curent change in driving, the curent change that will test is by low-pass filtering to obtain smooth numerical value, the model selection
Module adjusts motor rotation speed and range according to curent change to adjust the velocity of rotation of the suffering limb and range for stretching
Suffering limb muscle.3) auxiliary and draught control mode.In this mode, the Angle Position change detection module detects the elbow joint
The Angle Position of adapter changes, and the mode selection module change according to the Angle Position, calculates required with suffering limb movement
The size of the identical auxiliary force in direction or the resistance opposite with the suffering limb direction of motion, to control the motor to the elbow joint
Adapter applies the auxiliary force or resistance, so that the suffering limb carries out supplemental training or resistance exercise.4) active movement is induced
Mode.In this mode, the Angle Position change detection module detection is since suffering limb is to elbow joint adapter application torque
And the curent change generated, the mode selection module are calculated the autonomous fortune because of suffering limb by the detected curent change
Dynamic and generation moment variations, control the motor driven when the moment variations are less than a particular value to drive suffering limb to do
Exemplary passive movement, and the movement of limbs is fed back to patient in a manner of vision or the sense of hearing, then allow patient to do independently
Movement, and the moment variations after change ratio are fed back into patient.
Beneficial effects of the present invention are as follows:
1. this product can pull intensity, speed and movement with soft readjustment by monitoring limbs resistance or Muscle tensility variation
Range, to safely and effectively reduce Muscle tensility, alleviation and inhibit spasm.
2. realizing the flexible isotonic drawing in elbow joint extension limit position under the premise of guaranteeing limbs safety, increasing joint
Scope of activities.
3. this product focuses on clinical problem in rehabilitation, effective elbow joint stretching, extension curvature movement guidance is provided, elbow joint is induced
Autokinetic movement, tone up the muscles strength.
4. the training of a variety of elbow joint strengthening coolings can be achieved at the same time: free resistanceless motion, auxiliary and resistive exercise, soft
Property drawing-off, interactive game induce active movement mode.
5. stressing the induction of active movement and the new paragon of perception, intelligent sound guidance and interaction, entertaining acrognosis are provided
Know game interaction.
6. utilizing new control system patented technology, core component cost is greatly reduced, for the following household and community rehabilitation
Feasible equipment solution is provided.
7. conveniently joint fixing part is fixed, position is adjusted, and mechanical position limitation switching subtracts in the case where guaranteeing safety
The work of few Physical Therapist, it is easy to operate, it is not easy to make mistakes, reduce the requirement to Physical Therapist.
Although describing example embodiment by reference to attached drawing here, it should be understood that above example embodiment are only exemplary
, and be not intended to limit the scope of the invention to this.Those of ordinary skill in the art can carry out various changes wherein
And modification, it is made without departing from the scope of the present invention and spiritual.All such changes and modifications are intended to be included in appended claims
Within required the scope of the present invention.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that implementation of the invention
Example can be practiced without these specific details.In some instances, well known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this specification.
Similarly, it should be understood that in order to simplify the present invention and help to understand one in each inventive aspect or at least two
A, in the description to exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the method for the invention should not be construed to reflect an intention that i.e. required
Protection the present invention claims features more more than feature expressly recited in each claim.More precisely, such as phase
As the claims answered reflect, inventive point is that all spies less than some disclosed single embodiment can be used
The feature of sign solves corresponding technical problem.Therefore, it then follows thus claims of specific embodiment are expressly incorporated in
The specific embodiment, wherein each, the claims themselves are regarded as separate embodiments of the invention.
It will be understood to those skilled in the art that any combination pair can be used other than mutually exclusive between feature
All features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so disclosed any method
Or all processes or device of equipment are combined.Unless expressly stated otherwise, this specification (is wanted including adjoint right
Ask, make a summary and attached drawing) disclosed in each feature can be replaced with an alternative feature that provides the same, equivalent, or similar purpose.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments
In included certain features rather than other feature, but the combination of the feature of different embodiments mean it is of the invention
Within the scope of and form different embodiments.For example, in detail in the claims, embodiment claimed it is one of any
Can in any combination mode come using.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and ability
Field technique personnel can be designed alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference symbol between parentheses should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not
Element or step listed in the claims.Word "a" or "an" located in front of the element do not exclude the presence of at least two this
The element of sample.The present invention can by means of include several different elements hardware and by means of properly programmed computer come
It realizes.If several in these devices can be through the same hardware in the device claim for listing equipment for drying
It embodies.The use of word first, second, and third does not indicate any sequence.These words can be construed to
Title.
The above description is merely a specific embodiment or to the explanation of specific embodiment, protection of the invention
Range is not limited thereto, and anyone skilled in the art in the technical scope disclosed by the present invention, can be easily
Expect change or replacement, should be covered by the protection scope of the present invention.Protection scope of the present invention should be with claim
Subject to protection scope.
Claims (10)
1. a kind of elbow joint training adapter characterized by comprising
Elbow joint adapter, the elbow joint adapter include adjuster, position adjusting mechanism and joint fixing part, the joint
Fixing piece can be connected on the adjuster with adjusting by the position adjusting mechanism；And
Motion control host, the motion control host include driving motor and control module, the adjuster and the driving
Motor connection can be rotated relative to the output shaft of the driving motor, and the control module is connect with the driving motor；
Wherein, the control module includes:
Angle Position change detection module, the active movement for detecting suffering limb drive the adjuster to move synchronously and the angle that generates
Change in location；
Current of electric change detection module, for detecting in the motor driven that suffering limb generates adjuster application torque
Curent change；And
Mode selection module is separately connected with the Angle Position change detection module and the current of electric change detection module,
To use proper drag mode, stretch mode, auxiliary and resistance according to Angle Position variation and/or curent change selection
Mode induces active movement mode.
2. elbow joint training adapter according to claim 1, which is characterized in that the position adjusting mechanism includes sliding block
And sliding rail, the sliding rail are fixedly connected with the adjuster, the sliding block is slidably matched with the sliding rail, the joint fixing part
It is connected with the sliding block.
3. elbow joint according to claim 2 training adapter, which is characterized in that the joint fixing part includes:
Adjustment plate, the adjustment plate are connected with the slide block；
The forearm constraint component of forearm can be clamped up and down, and the forearm constraint component is mounted in the adjustment plate；And
Can for hand grasp palm constraint component, the palm constraint component be mounted in the adjustment plate and with the forearm
Setting before and after the relatively described adjustment plate of constraint component.
4. elbow joint training adapter according to claim 3, which is characterized in that the forearm constraint component includes longitudinal
Mounting plate and two lateral confinement columns, the longitudinally mounted plate are connect with the adjustment plate, and two lateral confinement columns can
It is mounted on the longitudinally mounted plate to adjustment, and there is the longitudinal pitch that can constrain forearm between two lateral confinement columns.
5. elbow joint training adapter according to claim 4, which is characterized in that be provided on the longitudinally mounted plate vertical
To sliding slot, the lateral confinement column includes intermediate cylinder and the soft cylinder that is set on the intermediate cylinder, the intermediate cylinder
One end be connected with adjustment sliding block, the adjustment sliding block is matched with the longitudinal chute.
6. elbow joint according to claim 3 training adapter, which is characterized in that the palm constraint component includes:
Side plate, the side plate are connect by a mounting plate with the adjustment plate；And
Ball is grasped, the grasping ball is connect by a transverse strands with the mounting plate；
Wherein, described grasp has the horizontal spacing that can be inserted into for palm between ball and the side plate.
7. elbow joint according to claim 2 training adapter, which is characterized in that the adjuster include limit assembly and
Spacer pin, the limit assembly are connected with the output shaft of the driving motor, and the limit assembly includes limiting slot, institute
It states sliding rail and the limit assembly is adjustably connected to by the cooperation of the spacer pin and the limiting slot.
8. a kind of healing and training elbow joint equipment characterized by comprising
Sliding bottom with guide rail；
Height adjustment mechanism, the height adjustment mechanism are mounted on the sliding bottom；
Elbow joint training adapter as described in any one of claim 1-7, the elbow joint training adapter are mounted on
On the height adjustment mechanism；
Display device, the display device is by screen mount adjustable supports in the top of the motion control host；And
Rotary training seat is arranged on the guide rail the relatively described elbow joint training adapter position-adjustable.
9. healing and training elbow joint equipment according to claim 8, which is characterized in that be provided on rotary training seat
Upper arm constraint component, the upper arm constraint component include the upper arm adapter of telescopic rod and half opening compatible with upper arm, institute
Upper arm adapter is stated to be connected on the rotary trained seat by the way that the telescopic rod is adjustable.
10. a kind of carry out elbow joint rehabilitation instruction using the healing and training elbow joint equipment as described in any one of claim 8-9
Experienced method characterized by comprising
Proper drag scheme control: the active movement of the Angle Position change detection module detection suffering limb drives the elbow joint suitable
The Angle Position that orchestration is moved synchronously and generated changes, and the mode selection module changes according to Angle Position described in the unit time,
It controls motor driven to generate along current control amount identical with the Angle Position change direction, overcomes mechanical resistance driving motor
The elbow joint adapter is driven to move along direction identical with the suffering limb direction of motion；
Stretch mode control: the current of electric change detection module detection is since suffering limb is to the elbow joint adapter applied force
Square and the curent change in the motor driven that generates, the mode selection module according to curent change adjust motor rotation speed and
Range is used to stretch suffering limb muscle with the velocity of rotation and range that adjust the suffering limb；
Auxiliary and resistance mode control: the Angle Position that the Angle Position change detection module detects the elbow joint adapter becomes
Change, the mode selection module changes according to the Angle Position, calculates required auxiliary force identical with the suffering limb direction of motion
Or the size of the resistance opposite with the suffering limb direction of motion, it is described auxiliary to elbow joint adapter application to control the motor
Power-assisted or resistance, so that the suffering limb carries out supplemental training or resistance exercise；
Induce active movement scheme control: the Angle Position change detection module detection is since suffering limb is to the elbow joint adapter
The curent change for applying torque and generating, the mode selection module are calculated by the detected curent change because of suffering limb
Autokinetic movement and the moment variations that generate, the motor driven is controlled when the moment variations are less than a particular value with band
Dynamic suffering limb does exemplary passive movement, and the movement of limbs is fed back to patient in a manner of vision or the sense of hearing, then allows trouble
Person does autokinetic movement, and the moment variations after change ratio are fed back to patient.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2018103827885 | 2018-04-25 | ||
| CN201810382788 | 2018-04-25 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109276407A true CN109276407A (en) | 2019-01-29 |
| CN109276407B CN109276407B (en) | 2023-09-15 |
Family
ID=65182365
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821604491.0U Active CN209220852U (en) | 2018-04-25 | 2018-09-29 | Elbow joint training adapter and healing and training elbow joint equipment |
| CN201811151887.9A Active CN109276407B (en) | 2018-04-25 | 2018-09-29 | Elbow joint training adapter and rehabilitation training device |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821604491.0U Active CN209220852U (en) | 2018-04-25 | 2018-09-29 | Elbow joint training adapter and healing and training elbow joint equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN209220852U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112023333A (en) * | 2020-09-10 | 2020-12-04 | 王加猛 | Joint strength test and resistance training integrated instrument |
| CN113457080A (en) * | 2021-06-25 | 2021-10-01 | 山东体育学院 | Stretcher for body building in sports classroom |
| CN113797497A (en) * | 2020-06-17 | 2021-12-17 | 北京清华长庚医院 | Forearm joint training device, forearm joint training system, forearm joint training method and storage medium |
| CN115137365A (en) * | 2022-09-05 | 2022-10-04 | 中国科学院合肥物质科学研究院 | Elbow joint torque measuring device |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4619250A (en) * | 1983-10-14 | 1986-10-28 | Man Design Co., Ltd. | Therapeutic appliance for improving functions of hand fingers |
| EP1371396A1 (en) * | 2002-06-12 | 2003-12-17 | Panatta Sport S.r.l. | Gymnastic apparatus for pectoral muscles |
| CN101766889A (en) * | 2008-12-30 | 2010-07-07 | 雷哈博泰克有限责任公司 | Lower limb off-axis moving and exercising device and system |
| JP2012061262A (en) * | 2010-09-17 | 2012-03-29 | Gifu Univ | Wearable action supporting device |
| US20120101419A1 (en) * | 2010-10-22 | 2012-04-26 | Bonutti Research, Inc. | Shoulder orthosis including flexion/extension device |
| CN102614066A (en) * | 2010-12-14 | 2012-08-01 | 雷哈博泰克有限责任公司 | Wearable and convertible passive and active movement training robot: apparatus and method |
| CN104434469A (en) * | 2014-12-25 | 2015-03-25 | 哈尔滨工程大学 | Exoskeleton type arm rehabilitation training device |
| KR20150049848A (en) * | 2013-10-31 | 2015-05-08 | (주)메디칼드림 | Assisting device for rehabilitation |
| CN105597280A (en) * | 2016-03-21 | 2016-05-25 | 哈尔滨工业大学 | Active-passive upper limb rehabilitation training exoskeleton |
| CN107224385A (en) * | 2017-05-19 | 2017-10-03 | 山东建筑大学 | Active/passive both arms upper limb rehabilitation robot |
| US9782285B1 (en) * | 2013-09-27 | 2017-10-10 | Weber Orthopedic, Inc. | Elbow-forearm anti-rotation orthosis |
-
2018
- 2018-09-29 CN CN201821604491.0U patent/CN209220852U/en active Active
- 2018-09-29 CN CN201811151887.9A patent/CN109276407B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4619250A (en) * | 1983-10-14 | 1986-10-28 | Man Design Co., Ltd. | Therapeutic appliance for improving functions of hand fingers |
| EP1371396A1 (en) * | 2002-06-12 | 2003-12-17 | Panatta Sport S.r.l. | Gymnastic apparatus for pectoral muscles |
| CN101766889A (en) * | 2008-12-30 | 2010-07-07 | 雷哈博泰克有限责任公司 | Lower limb off-axis moving and exercising device and system |
| JP2012061262A (en) * | 2010-09-17 | 2012-03-29 | Gifu Univ | Wearable action supporting device |
| US20120101419A1 (en) * | 2010-10-22 | 2012-04-26 | Bonutti Research, Inc. | Shoulder orthosis including flexion/extension device |
| CN102614066A (en) * | 2010-12-14 | 2012-08-01 | 雷哈博泰克有限责任公司 | Wearable and convertible passive and active movement training robot: apparatus and method |
| US9782285B1 (en) * | 2013-09-27 | 2017-10-10 | Weber Orthopedic, Inc. | Elbow-forearm anti-rotation orthosis |
| KR20150049848A (en) * | 2013-10-31 | 2015-05-08 | (주)메디칼드림 | Assisting device for rehabilitation |
| CN104434469A (en) * | 2014-12-25 | 2015-03-25 | 哈尔滨工程大学 | Exoskeleton type arm rehabilitation training device |
| CN105597280A (en) * | 2016-03-21 | 2016-05-25 | 哈尔滨工业大学 | Active-passive upper limb rehabilitation training exoskeleton |
| CN107224385A (en) * | 2017-05-19 | 2017-10-03 | 山东建筑大学 | Active/passive both arms upper limb rehabilitation robot |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113797497A (en) * | 2020-06-17 | 2021-12-17 | 北京清华长庚医院 | Forearm joint training device, forearm joint training system, forearm joint training method and storage medium |
| CN113797497B (en) * | 2020-06-17 | 2022-06-10 | 北京清华长庚医院 | Forearm joint training device, forearm joint training system, forearm joint training method and storage medium |
| CN112023333A (en) * | 2020-09-10 | 2020-12-04 | 王加猛 | Joint strength test and resistance training integrated instrument |
| CN113457080A (en) * | 2021-06-25 | 2021-10-01 | 山东体育学院 | Stretcher for body building in sports classroom |
| CN115137365A (en) * | 2022-09-05 | 2022-10-04 | 中国科学院合肥物质科学研究院 | Elbow joint torque measuring device |
| CN115137365B (en) * | 2022-09-05 | 2022-12-06 | 中国科学院合肥物质科学研究院 | Elbow joint torque measuring device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN209220852U (en) | 2019-08-09 |
| CN109276407B (en) | 2023-09-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209220852U (en) | Elbow joint training adapter and healing and training elbow joint equipment | |
| CN208799724U (en) | Ankle-joint training adapter and ankle joint rehabilitation training equipment | |
| CN209220850U (en) | Knee joint training adapter and knee-joint rehabilitation training equipment | |
| US11166866B2 (en) | Lower limb training rehabilitation apparatus | |
| CN208626529U (en) | Preceding shoulder joint training adapter and forearm recovery training equipment | |
| KR101099078B1 (en) | Rehabilitative and Assistive Device for Elbow Movements | |
| US8359123B2 (en) | Robotic system and training method for rehabilitation using EMG signals to provide mechanical help | |
| CN102614066B (en) | A kind of providing initiatively is assisted and the suffering limb training devices of passive drawing and control method thereof | |
| US6666831B1 (en) | Method, apparatus and system for automation of body weight support training (bwst) of biped locomotion over a treadmill using a programmable stepper device (psd) operating like an exoskeleton drive system from a fixed base | |
| KR101065420B1 (en) | Wearable Robotic System for the Rehabilitation Training of upper limbs | |
| CN104107131B (en) | A kind of self adaptation of lower limb exoskeleton rehabilitation robot supports weight reducing device | |
| KR102264707B1 (en) | Rehabilitation exercise apparatus and rehabilitation exercise method using the same | |
| CN205994968U (en) | A kind of shoulder joint trainer | |
| CN109260671A (en) | A kind of passive hand device for healing and training of master | |
| CN107468486B (en) | Intelligent mechanical electronic exoskeleton of lower limb brain and comprehensive control system thereof | |
| KR20110066567A (en) | Arm rehabilitation device using the air muscle | |
| CN108553271A (en) | A kind of MR damper sitting and lying formula lower limb rehabilitation robot | |
| CN101816603B (en) | Electrically powered wheelchair device with rehabilitation mechanical arm | |
| CN206630836U (en) | A kind of upper limbs press exerciser | |
| CN206652147U (en) | Old disability patient with four limbs link auxiliary rehabilitation device | |
| KR20140022993A (en) | Exercise apparatus for rehabilitation | |
| KR101991435B1 (en) | Rehabilitation equipment combining joint exercise therapy and functional electrical stimulation | |
| CN206334071U (en) | A kind of lower-limb muscular strength trainer | |
| CN110179626B (en) | Upper limb rehabilitation training device and method | |
| CN107670238A (en) | A kind of Orthopeadic Surgery shoulder rehabilitation therapeutic system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20230731 Address after: 310030 4th floor, building 6, No. 368, Jinpeng street, Xihu District, Hangzhou City, Zhejiang Province Applicant after: HANGZHOU EXTREME MEDICAL TECH CO.,LTD. Applicant after: BEIJING LTK TECHNOLOGY CO.,LTD. Applicant after: BEIJING LTK MEDICAL TECHNOLOGY Co.,Ltd. Address before: 100085 room 104, floor 01, building 25, courtyard 9, anningzhuang West Road, Haidian District, Beijing Applicant before: BEIJING LTK TECHNOLOGY CO.,LTD. Applicant before: BEIJING LTK MEDICAL TECHNOLOGY Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |