CN109276407B

CN109276407B - Elbow joint training adapter and rehabilitation training device

Info

Publication number: CN109276407B
Application number: CN201811151887.9A
Authority: CN
Inventors: 任宇鹏; 王卫卫; 余杰华; 赵笃
Original assignee: Beijing Ltk Medical Technology Co ltd; Beijing Ltk Technology Co ltd; Hangzhou Extreme Medical Tech Co ltd
Current assignee: Beijing Ltk Medical Technology Co ltd; Beijing Ltk Technology Co ltd; Hangzhou Extreme Medical Tech Co ltd
Priority date: 2018-04-25
Filing date: 2018-09-29
Publication date: 2023-09-15
Anticipated expiration: 2038-09-29
Also published as: CN209220852U; CN109276407A

Abstract

The application discloses an elbow joint training adapter and elbow joint rehabilitation training equipment. The elbow joint adapter comprises an adjustor, a position adjustment mechanism and a joint fixing piece, wherein the joint fixing piece is adjustably connected to the adjustor through the position adjustment mechanism. The motion control host comprises a driving motor and a control module, the regulator is connected with the driving motor and can rotate relative to an output shaft of the driving motor, and the control module is connected with the driving motor. The control module comprises an angular position change detection module, a motor current change detection module and a mode selection module. The application can effectively assist the patient to exercise the joints, promote the muscle strength, improve the joint mobility and draft and relax the stiff joints.

Description

Elbow joint training adapter and rehabilitation training device

Technical Field

The application relates to the field of medical equipment, in particular to an elbow joint training adapter and elbow joint rehabilitation training equipment.

Background

In the field of popular sports rehabilitation training, cerebral apoplexy, multiple sclerosis, spinal cord injury and cerebral palsy affect the lives of millions of people. For most patients with impaired neurological function, dyskinesia is often associated with increased limb cramps, and physical therapy is the primary means of the current rehabilitation training process, but the current training technology has many limitations.

In traditional stretch treatment, physical therapists can employ stretch, assist and other physical intervention procedures to relieve spasticity and contracture of the patient's limb, restore the patient's balance, coordination and motor functions of the joints and limbs. However, traditional stretching by physical manipulation is laborious, often requiring the therapist to stretch the patient's spastic extremities with a great deal of hand effort; meanwhile, the strength of the manual stretching depends on experience of therapists and subjective feeling.

In evoked active exercise training, it is difficult for a patient to achieve complete recovery of limb movement function through his own exercise efforts without the assistance of a physical therapist or device, as a patient is unable to produce continuous stable active limb movements. Furthermore, due to lack of rehabilitation knowledge or over-training, the patient may potentially exacerbate the extent of injury in attempting to perform voluntary limb movements.

Due to shortage of therapist resources, patients do not get a sufficient amount of exercise rehabilitation training, resulting in short-term rehabilitation training efficacy not being maintained for a long period of time.

Conventional passive traction training devices (CPM, continuous passive motion) are widely used in hospitals and in patients' homes. CPM primarily provides slow motion of the joint within a predetermined fixed range to prevent post-operative adhesions and reduce joint stiffness. The technical limitation is that CPM machines move a limb or joint between two preset articulation positions at a slow constant speed. Although the system can provide a large stretching moment, the preset movement range is usually smaller than the flexible movement range of the joint because the resistance of the affected limb due to the spasm cannot be detected in the whole stretching process due to the limitation of the mechanical structure, otherwise the damage risk of the joint is increased. Under such functional limitations, the passive traction function is generally unable to stretch to a location of limited high muscle tone, and this physiological location is precisely the most pronounced contracture and cramp, and is also the physiological location where safe and effective stretching is truly desired. Because of the lack of detection of human joint resistance, conventional continuous passive traction trainers cannot be used for rehabilitation of motor dysfunction due to nerve damage.

In recent years, another type of active auxiliary training equipment is mainly a multi-degree-of-freedom robot product and is used for helping to improve the control of active movement of limbs and nerve rehabilitation of patients after cerebral apoplexy and other nerve injuries. However, from a clinical point of view, for patients with high muscular tension/limb spasticity (e.g. cerebral stroke, cerebral palsy, etc.), the problem of high muscular tension/limb spasticity may be aggravated by the fact that the patient has to take into account the problem of muscular tension change or muscle group spasticity, but the existing auxiliary training equipment often ignores such pathological characteristics and directly performs auxiliary training on the patient without solving the prerequisite function of the muscular tension change or muscle group spasticity.

In addition, some training laboratory platform robots can accurately measure resistance or active movement tendencies generated by a limb spasm, but their technology is limited in that the implementation of the overall function and control relies on the use of additional precision force/moment sensors. Therefore, the structure determines the increase of the manufacturing cost of the whole system, and the price is too high, thus being not suitable for being widely used in basic communities and families. And because of the different structural compositions, the device can only provide an active auxiliary exercise training function, and on the same device, a passive stretching function with larger output moment cannot be realized at the same time, and the treatment mode of combining active/passive training and the evaluation after training are ignored.

The intelligent rehabilitation training system is provided with protective measures, and once the spasm occurs in the use process of a patient, the machine can start an intelligent reverse movement mode to relieve the symptoms of the spasm. Although having active and passive modes, only repetitive joint limb movements can be generated due to limitations in mechanical design and motion control techniques; the problem of limb cramping for brain injury patients cannot provide targeted joint flexible traction. The training patterns provided by such products are limited to basic exercise bicycle exercise patterns, suitable for improving cardiopulmonary ability and maintaining basic exercise ability, but very limited for alleviating and improving limb cramping problems. Meanwhile, products on the market in China mainly comprise forms of a walking training bed, a pedal bicycle type training device, a CPM (continuous passive exercise rehabilitation device) and the like, few training products for elbow joints are needed, and few products for patients suffering from cerebral apoplexy, cerebral palsy spinal cord injury and the like are needed.

Disclosure of Invention

In view of the problems of the prior art, the present application initially provides an elbow training adapter that at least partially addresses the deficiencies of the prior art.

The elbow joint training adapter provided by the application comprises:

an elbow joint adapter comprising an adjustor, a position adjustment mechanism, and a joint fixture adjustably connected to the adjustor by the position adjustment mechanism; and

the motion control host comprises a driving motor and a control module, the regulator is connected with the driving motor and can rotate relative to an output shaft of the driving motor, and the control module is connected with the driving motor;

wherein, the control module includes:

the angular position change detection module is used for detecting angular position changes generated by the synchronous movement of the regulator driven by the active movement of the affected limb;

the motor current change detection module is used for detecting current change in motor driving generated by applying torque to the regulator by the affected limb; and

and the mode selection module is respectively connected with the angular position change detection module and the motor current change detection module so as to select to adopt an inherent resistance mode, a stretching mode, an auxiliary and resistance mode or an active motion induction mode according to the angular position change and/or the current change.

Preferably, the position adjusting mechanism comprises a sliding block and a sliding rail, the sliding rail is fixedly connected with the adjuster, the sliding block is in sliding fit with the sliding rail, and the joint fixing piece is connected with the sliding block.

Preferably, the joint fixing member includes:

the adjusting plate is connected with the sliding block;

a forearm restriction member capable of gripping a forearm up and down, the forearm restriction member being mounted on the adjustment plate; and

and the palm restraining part is arranged on the adjusting plate and is arranged back and forth relative to the adjusting plate with the forearm restraining part.

Preferably, the forearm restraint part comprises a longitudinal mounting plate and two transverse restraint posts, wherein the longitudinal mounting plate is connected with the adjusting plate, the two transverse restraint posts are adjustably mounted on the longitudinal mounting plate, and a longitudinal space capable of restraining the forearm is arranged between the two transverse restraint posts.

Preferably, the longitudinal sliding groove is formed in the longitudinal mounting plate, the transverse constraint column comprises a middle column body and a soft column body sleeved on the middle column body, one end of the middle column body is connected with an adjusting sliding block, and the adjusting sliding block is matched with the longitudinal sliding groove.

Preferably, the palm restraint part includes:

the side plate is connected with the adjusting plate through a mounting plate; and

a grip ball connected to the mounting plate by a transverse frame;

the lateral space for inserting the palm is arranged between the gripping ball and the side plate.

Preferably, the adjuster comprises a limiting assembly and a limiting pin, the limiting assembly is connected with an output shaft of the driving motor, the limiting assembly comprises a limiting groove, and the sliding rail is adjustably connected with the limiting assembly through the cooperation of the limiting pin and the limiting groove.

The application further provides elbow joint rehabilitation training equipment which comprises a sliding base with a guide rail, a height adjusting mechanism, the elbow joint training adapting piece, a display device and a rotary training seat. The height adjusting mechanism is arranged on the sliding base. An elbow joint training adapter is mounted on the height adjustment mechanism. The display device is adjustably supported above the motion control host through a screen bracket. The rotary training seat is arranged on the guide rail and is adjustable in position relative to the elbow joint training adapter.

Preferably, the rotary training seat is provided with an upper arm restraining part, the upper arm restraining part comprises a telescopic rod and an upper arm adapting piece which is matched with the upper arm and is semi-open, and the upper arm adapting piece is adjustably connected with the rotary training seat through the telescopic rod.

The application further provides a control method for elbow joint rehabilitation training by adopting the elbow joint rehabilitation training device, which comprises the following steps:

inherent resistance mode control: the angular position change detection module detects angular position change generated by the synchronous movement of the elbow joint adapter driven by the active movement of the affected limb, the mode selection module controls the motor to drive to generate current control quantity along the same direction as the angular position change according to the angular position change in unit time, and the motor is driven to drive the elbow joint adapter to move along the same direction as the movement direction of the affected limb by overcoming mechanical resistance;

stretch mode control: the motor current change detection module detects current changes in motor drive generated by the fact that a patient limb applies torque to the elbow joint adapter, and the mode selection module adjusts the motor rotation speed and range according to the current changes so as to adjust the rotation speed and range of the patient limb and stretch muscles of the patient limb;

assistance and resistance mode control: the angular position change detection module detects the angular position change of the elbow joint adapter, and the mode selection module calculates the auxiliary force which is required to be the same as the movement direction of the affected limb or the resistance which is opposite to the movement direction of the affected limb according to the angular position change so as to control the motor to apply the auxiliary force or the resistance to the elbow joint adapter, so that the affected limb can carry out auxiliary training or resistance training;

active motion mode control is induced: the angular position change detection module detects current changes generated by applying torque to the elbow joint adapter by the affected limb, the mode selection module calculates moment changes generated by autonomous movement of the affected limb according to the detected current changes, controls the motor to drive the affected limb to perform exemplary passive movement when the moment changes are smaller than a specific value, and feeds back the movement of the limb to a patient in a visual or audible mode, then enables the patient to perform autonomous movement, and feeds back the moment changes after the proportion change to the patient.

The application combines the design of the elbow joint adapter and the motion control host, can effectively assist a patient to exercise joints, improve muscle strength, improve joint mobility and draft and relax stiff joints; in addition, because the change of the muscle tension is monitored according to the change of the angular position and the change of the current, the flexible self-adaptive traction treatment is implemented, namely, the joint motion parameters are dynamically monitored, and the force of the speed and the traction joint motion degree can be accurately adjusted to the maximum extent on the basis of ensuring the safety and the effectiveness, and the flexible self-adaptive traction treatment device is economical, practical and simple in structure. Can be used by patients at home comfortably, increase the training treatment frequency and shorten the rehabilitation period. Compared with the prior training equipment, the application can greatly reduce the volume, weight and manufacturing cost of the rehabilitation training system, and patients can use the low-cost training equipment at home and in local clinics; for patients in the acute phase, the patients can get necessary and convenient rehabilitation training in the early bedridden rehabilitation period.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application.

FIG. 1a is a schematic view (from a direction) of an elbow rehabilitation training device according to an embodiment of the present application;

FIG. 1b is a schematic view of an elbow rehabilitation training device according to an embodiment of the present application (seen from another direction);

FIG. 2 is a block diagram of the control module of the elbow joint training adapter of the present application;

FIG. 3 is a schematic view of the elbow joint adapter of FIG. 1 (as viewed from a direction);

FIG. 4 is a schematic view of the elbow joint adapter of FIG. 1 (from another direction);

FIG. 5 is a schematic view of the elbow joint adapter of FIG. 1 (from another direction);

FIG. 6 is a top view of the elbow joint adapter of FIG. 1;

FIG. 7 is an exploded view (from a direction) of the elbow joint adapter of FIG. 1;

FIG. 8 is an exploded view (from another direction) of the elbow joint adapter of FIG. 1;

fig. 9 is an exploded view of the elbow joint adapter of fig. 1 (with the joint fixture removed).

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. It should be apparent that the described embodiments are only some embodiments of the present application and not all embodiments of the present application, and it should be understood that the present application is not limited by the example embodiments described herein. Based on the embodiments of the application described in the present application, all other embodiments that a person skilled in the art would have without inventive effort shall fall within the scope of the application.

In the description of the present application, it should be noted that terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," "front," and "rear," and the like, indicate terms of orientation or positional relationship with respect to an observer or patient standing around the elbow rehabilitation training device, are merely for convenience in describing the present application and for simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application.

In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. For the electrical and communication fields, either a wired connection or a wireless connection is possible. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.

As shown in fig. 1a, the present application provides an elbow rehabilitation training device, which comprises a sliding base 800 with a guide rail, a height adjusting mechanism 300, an elbow joint training adapter 1000, a display device 400 and a rotary training seat 500. The height adjustment mechanism 300 is mounted on the slide base 800. Elbow joint training adapter 1000 is mounted on height adjustment mechanism 300. The display device 400 is adjustably supported by a screen support above a motion control host (described below) of the elbow training adapter. The rotary exercise seat 500 is positioned on the rail 600 with adjustable positions relative to the elbow joint exercise adapter. The slide base 800 is locked to the rail 600 and is adjustable in position relative to the rail 600. The guide rail 600 includes a first guide rail 601 and a second guide rail 602, the first guide rail 601 and the second guide rail 602 are butted into a T-shaped slide rail, the sliding base 800 is in sliding fit with the first guide rail 601, and the rotary training seat 500 is in sliding fit with the second guide rail 602.

Illustratively, referring to fig. 1b, an upper arm restraint 900 is provided on the rotary exercise seat 500, the upper arm restraint 900 comprising a telescoping rod 910 and a semi-open upper arm adapter 920 adapted to fit the upper arm, the upper arm adapter 920 being adjustably connected to the rotary exercise seat 500 by the telescoping rod 910. The telescoping rod 910 is pivotally coupled to the swing seat 500 so as to be rotatable relative to the swing seat 500. The upper arm adapter 920 may be used with straps that may be used to secure the upper arm to the upper arm adapter 920 during rehabilitation exercises.

Specifically, referring again to fig. 1a, elbow joint training adapter 1000 includes elbow joint adapter 100 and a motion control host. The motion control host includes a drive motor 200 and a control module 700.

Referring to fig. 2, the control module 700 includes an angular position change detection module 710, a motor current change detection module 720, and a mode selection module 730, where the angular position change detection module 710 is configured to detect an angular position change generated by an active motion of a patient limb driving the regulator to move synchronously; the motor current change detection module 720 is used for detecting current change in motor driving caused by torque applied by a patient limb to the regulator; the mode selection module 730 is connected to the angular position change detection module 710 and the motor current change detection module 720, respectively, to select to use the intrinsic resistance mode, the stretch mode, the assist and resistance modes, or to induce the active motion mode according to the angular position change and/or the current change.

Specifically, referring again to fig. 1a and 1b, in the passive training mode, the driving motor 200 drives the elbow joint adapter 100 to move, thereby driving the forearm of the patient to train the elbow joint; in the active training mode, the drive motor 200 is deactivated and the elbow joint adapter 100 is moved by the patient's voluntary movement, thereby training the patient's elbow joint. Preferably, after a period of passive training of the patient, the active training may be selected again after the test has reached the requirements.

As shown in fig. 3 to 6, which are structural views of the elbow joint adapter 100 according to the embodiment of the present application, the elbow joint adapter 100 includes an adjustor 110, a position adjusting mechanism 120, and a joint fixing member 130, the joint fixing member 130 is adjustably connected to the adjustor 110 through the position adjusting mechanism 120, and the adjustor 110 is rotatably connected to a driving motor 200 with respect to an output shaft of the driving motor.

Referring to fig. 7 to 8 in combination, the regulator 110 includes a limiting member 1110 and a limiting pin 112, the limiting member 1110 is connected with the output shaft 202 of the driving motor 200, and the limiting member 1110 includes a limiting groove 11111. The position adjustment mechanism 120 includes a sliding rail 121, and the sliding rail 121 is adjustably connected to the limiting component 1110 through the cooperation of the limiting pin 112 and the limiting groove 11111.

Specifically, the limiting assembly 1110 includes a connection sleeve 1111, a lever connection member 1112, a key-free bushing 1113, and an end cap 11114, the connection sleeve 1111 is connected to the flange 201 of the driving motor 200, a limiting groove 11111 is disposed on the connection sleeve 1111, a lever 1116 for facilitating position adjustment is disposed on the lever connection member 1112, a connection shaft 1115 at one end of the key-free bushing 1113 is fixedly connected to the sliding rail 121, a bushing 1117 at the other end is engaged with the lever connection member 1112, a through hole is disposed on the lever connection member 1112, one end of the limiting pin 112 is connected to the key-free bushing 1113, the other end of the limiting pin passes through the through hole of the lever connection member 1112 to engage with the limiting groove 11111, and the sliding rail 121 is covered by the end cap 11114 after being connected to the connection shaft 1115. Based on this structural arrangement of the stop assembly 1110, the initial angle of the slide rail 121 relative to the output shaft 202 of the drive motor 200 is adjustable.

Referring to fig. 9 in combination, the position adjustment mechanism 120 includes a slide rail 121 and a plurality of sliding blocks slidably engaged with the slide rail 121. The joint fixing member 130 is connected to the slider through its adjustment plate 131. Illustratively, there are four slides, two of which are fixedly coupled to the adjustment plate 131 and two of which are coupled to the transition mounting plate 124, for illustrative purposes, the slide coupled to the adjustment plate 131 is also referred to as the movable slide 1221 and the slide coupled to the transition mounting plate 124 is also referred to as the stationary slide 1222. Specifically, the joint fixing piece 130 is disposed on the adjusting plate 131, the transition mounting plate 124 is provided with an opening 1241, and the movable slider 1221 is connected with the adjusting plate 131 through the opening 1241, so that the position of the joint fixing piece 130 relative to the sliding rail 121 can be adjusted slightly; the transition mounting plate 124 is coupled to the fixed slider 1222 such that when the movable slider 1221 is locked, the adjustment plate 131 is adjusted to adjust the fore-aft position of the articulation mount 130 relative to the adjuster 110. Illustratively, a cover plate 123 is coupled to the transition mounting plate 124 to cover the plurality of slides within a cavity defined by the transition mounting plate 124 and the cover plate 123.

Referring to fig. 3, 4, 5, 6, 7 and 8 in combination, the joint fixture 130 includes an adjustment plate 131, a forearm restriction member 1320 and a palm restriction member 1330. The adjustment plate 131 is connected to the slider in the manner described above.

The forearm restraint part 1320 is used for clamping the forearm up and down, the forearm restraint part 1320 is mounted on the adjustment plate 131, the forearm restraint part 1320 includes a longitudinal mounting plate 1321 and two lateral restraint posts 1322, the longitudinal mounting plate 1321 is connected with the adjustment plate 131, the two lateral restraint posts 1322 are adjustably mounted on the longitudinal mounting plate 1321, and a longitudinal space M capable of restraining the forearm is provided between the two lateral restraint posts 1322. The longitudinal mounting plate 1321 is provided with a longitudinal sliding groove, the transverse restraining column 1322 comprises a middle column 13221 and a soft column 13222 sleeved on the middle column 13221, one end of the middle column 13221 is connected with an adjusting slide block 1324, the adjusting slide block 1324 is matched with the longitudinal sliding groove on the longitudinal mounting plate 1321, accordingly, the upper and lower positions of the transverse restraining column 1322 relative to the longitudinal mounting plate 1321 can be adjusted, the other end of the middle column 13221 is connected with a cover 13223, and the soft column 13222 is prevented from falling off from the middle column 13221.

The palm restraint part 1330 is used for being gripped by a hand to restrain the palm, the palm restraint part 1330 is mounted on the adjusting plate 131 and is arranged back and forth relative to the adjusting plate 131 with respect to the forearm restraint part 1320, the palm restraint part comprises a side plate 1331 and a gripping ball 1332, the side plate 1331 is connected with the adjusting plate 131 through a mounting plate 1334, the gripping ball 1332 is connected with the mounting plate 1334 through a transverse frame 1333, and a transverse distance d for inserting the palm is arranged between the gripping ball 1332 and the side plate 1331. The grip ball 1332 is disposed on the transverse frame 1333 by a connecting shaft 1335 and is secured by a locking member 13331, preferably the transverse frame 1333 is connected to the mounting plate 1334 by a connecting shaft, such that the angle of the grip ball 1332 relative to the adjustment plate 131 is adjustable.

In the control mode, the application can set the activity angle and can set 3 position parameters respectively: elbow joint motion zero, maximum extension, maximum flexion. The stretching strength can set the maximum stretching and maximum buckling data of the stretching elbow joint according to the actual condition of the elbow joint of a patient. The bending angle setting range of the training device for the maximum extension capacity of the elbow joint is 5-95 degrees, and the bending angle setting range of the maximum bending capacity is 5-95 degrees.

It should be noted that the extension in the present application means: the small arm is moved to enable the small arm and the large arm to approach to the action on a straight line; buckling in the present application refers to: the elbow joint is moved to enable the small arm and the large arm to form an included angle.

The control module of the application can flexibly adjust the pulling strength, the speed and the movement range by monitoring the change of limb resistance or muscle tension, thereby safely and effectively reducing the muscle tension, and relieving and inhibiting the spasm. Can provide effective elbow dorsiflexion/buckling motion guidance, induce autonomous movement of elbow joint and strengthen muscle strength.

The application also provides a method for performing elbow joint rehabilitation training by using the device, which comprises the following steps: one or more of the following modes are performed according to the needs of the affected limb training: 1) Counteracting the natural drag mode of the system. In the mode, the angular position change detection module detects angular position change generated by the synchronous movement of the elbow joint adapter driven by the active movement of the affected limb, the mode selection module controls the motor to drive to generate current control quantity along the same direction as the angular position change direction according to the angular position change in unit time, and the motor is driven to drive the elbow joint adapter to move along the same direction as the movement direction of the affected limb so as to enable the affected limb to move freely. 2) Stretching mode. In this mode, the motor current change detection module detects a current change in the motor drive due to the torque applied to the elbow joint adapter by the patient limb, the detected current change is low pass filtered to obtain a smoothed value, and the mode selection module adjusts the motor rotation speed and range according to the current change to adjust the rotation speed and range of the patient limb for stretching the muscle of the patient limb. 3) Assistance and resistance control modes. In this mode, the angular position change detection module detects the angular position change of the elbow joint adapter, and the mode selection module calculates the required auxiliary force in the same direction as the movement direction of the affected limb or the resistance opposite to the movement direction of the affected limb according to the angular position change so as to control the motor to apply the auxiliary force or the resistance to the elbow joint adapter, so that the affected limb can perform auxiliary training or resistance training. 4) An active motion mode is induced. In this mode, the angular position change detection module detects a current change generated by applying a moment to the elbow joint adapter by the affected limb, the mode selection module calculates a moment change generated by autonomous movement of the affected limb from the detected current change, controls the motor to drive the affected limb to perform an exemplary passive movement when the moment change is smaller than a specific value, and feeds back the movement of the limb to the patient in a visual or audible manner, and then allows the patient to perform autonomous movement and feeds back the moment change after the ratio change to the patient.

The beneficial effects of the application are as follows:

1. by monitoring the change of limb resistance or muscle tension, the product can flexibly adjust the traction strength, speed and movement range, thereby safely and effectively reducing the muscle tension, and relieving and inhibiting the spasm.

2. On the premise of ensuring limb safety, the elbow joint expansion limit position flexibility and the like Zhang Qianla are realized, and the joint movement range is enlarged.

3. The product focuses on clinical problems in rehabilitation, provides effective elbow joint extension and flexion movement guidance, induces elbow joint autonomous movement and strengthens muscle strength.

4. Can realize the training of multiple elbow joint strengthening modes simultaneously: free drag-free motion, auxiliary and drag-resistant motion, flexible draft, and interactive play induces an active motion pattern.

5. The novel mode of inducing and sensing the active movement is emphasized, intelligent voice guidance and interaction are provided, and interesting limbs sense game interaction is realized.

6. By using the novel control system patent technology, the cost of the core component is greatly reduced, and a feasible equipment solution is provided for future home use and community rehabilitation.

7. Convenient and fast's joint mounting is fixed, and position adjustment, mechanical spacing switch, under the circumstances of assurance safety, reduce physiotherapy mr's work, easy operation is difficult for makeing mistakes, reduces the requirement to physiotherapy mr.

Although the illustrative embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the above illustrative embodiments are merely illustrative and are not intended to limit the scope of the present application thereto. Various changes and modifications may be made therein by one of ordinary skill in the art without departing from the scope and spirit of the application. All such changes and modifications are intended to be included within the scope of the present application as set forth in the appended claims.

In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in order to streamline the application and aid in understanding one or at least two of the various inventive aspects, in the description of exemplary embodiments of the application, various features of the application are sometimes grouped together in a single embodiment, figure, or description thereof. However, the method of the present application should not be construed as reflecting the following intent: i.e., the claimed application requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this application.

It will be understood by those skilled in the art that all of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or means of any method or apparatus so disclosed, may be combined in any combination, except combinations where the features are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features but not others included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the application and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.

It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of at least two such elements. The application may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the device claim enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, third, etc. do not denote any order. These words may be interpreted as names.

The foregoing description is merely illustrative of specific embodiments of the present application and the scope of the present application is not limited thereto, and any person skilled in the art can easily think about variations or substitutions within the scope of the present application. The protection scope of the application is subject to the protection scope of the claims.

Claims

1. An elbow joint training adapter, comprising:

the elbow joint adapter comprises an adjustor, a position adjusting mechanism and a joint fixing piece, wherein the position adjusting mechanism comprises a sliding block and a sliding rail, the sliding rail is fixedly connected with the adjustor, the sliding block is in sliding fit with the sliding rail, and the joint fixing piece is connected with the sliding block; and

the joint fixing piece comprises an adjusting plate, a forearm restraining part and a palm restraining part, wherein the adjusting plate is connected with the sliding block, the forearm restraining part can clamp a forearm up and down, the forearm restraining part is installed on the adjusting plate and comprises a longitudinal mounting plate and two transverse restraining columns, the longitudinal mounting plate is connected with the adjusting plate, the two transverse restraining columns can be installed on the longitudinal mounting plate in an adjustable mode, a longitudinal distance capable of restraining the forearm is reserved between the two transverse restraining columns, the palm restraining part can be used for being gripped by a hand, and the palm restraining part is installed on the adjusting plate and is arranged front and back relative to the adjusting plate;

the control module includes:

2. The elbow joint training adapter according to claim 1, wherein the longitudinal mounting plate is provided with a longitudinal chute, the transverse restraining column comprises a middle column body and a soft column body sleeved on the middle column body, one end of the middle column body is connected with an adjusting slide block, and the adjusting slide block is matched with the longitudinal chute.

3. The elbow joint training adapter of claim 1, wherein the palm restraint comprises:

a grip ball connected to the mounting plate by a transverse frame;

4. The elbow joint training adapter of claim 1, wherein the adjuster comprises a limit assembly and a limit pin, the limit assembly is connected with the output shaft of the driving motor, the limit assembly comprises a limit groove, and the slide rail is adjustably connected to the limit assembly through the cooperation of the limit pin and the limit groove.

5. An elbow joint rehabilitation training device, comprising:

a sliding base with a guide rail;

the height adjusting mechanism is arranged on the sliding base;

the elbow joint training adapter of any one of claims 1-4, the elbow joint training adapter mounted on the height adjustment mechanism;

the display device is adjustably supported above the motion control host through a screen bracket; and

the rotary training seat is arranged on the guide rail and is adjustable in position relative to the elbow joint training adapter.

6. The elbow joint rehabilitation training device according to claim 5, wherein an upper arm restraint is provided on the rotary training seat, the upper arm restraint comprising a telescoping rod and a semi-open upper arm adapter adapted to the upper arm, the upper arm adapter being adjustably connected to the rotary training seat via the telescoping rod.