CN109793643A - A kind of Patients with Stroke upper limb training device - Google Patents

Abstract

The invention discloses a kind of Patients with Stroke upper limb training devices, including mechanical framework, power plant module, main control module, detection module, security module；It is characterized by: the mechanical framework includes pedestal, vertical support rod, horizontal support bar, fixed pulley, nylon rope, sliding block；The power plant module includes motor and motor driver；The main control module is STM32；The detection module is angular transducer and optoelectronic switch；The security module is surface myoelectric sensor；Security module and main control module are by SPI communication, and the invention discloses a kind of upper limb training devices for paralytic's arm function barrier design.

Description

A kind of Patients with Stroke upper limb training device

Technical field

The present invention relates to upper limb healing field, in particular to a kind of Patients with Stroke upper limb training device.

Background technique

Headstroke mostly because qi and blood is inverse disorderly, the resistance of brain vessle-Bi symptom-complex or blood are overflow in brain, causes partial nerve function impaired, is mainly shown as Hemianesthesia, extremity numbness, hemiplegia etc., research shows that: injured nerve has plasticity, and rehabilitation training can promote patient The connection and regeneration of injured nerve carry out conformability to arm motion dysfunction caused by headstroke using upper limb training device Rehabilitation training；Show as the symptom of myasthenia in the early stage for the arm of Patients with Stroke, if without timely treating, It may result in the paralysis of arm for a long time；The arm of normal person is able to carry out the elemental motion of buckling and stretching, extension, for arm function The Patients with Stroke of energy dyskinesia it is long to restore the period, and be extremely difficult to expected rehabilitation efficacy if only leaning on its self- recoverage.

Structure is complicated for existing arm rehabilitation therapeutic device, controls complexity to the motion profile of arm, adapts to different patients The ability of arm structure is poor, for the Patients with Stroke of different arm structure states, it is necessary to which it is simple to design a kind of structure, adapts to Ability is strong, the simple upper limb training device of trajectory planning come assist patient carry out arm rehabilitation treatment, reach Patients with Stroke hand Arm can be bent the purpose of stretching, extension.

A kind of Patients with Stroke upper limb training device of the invention not can be carried out curved for patient's arm caused by headstroke Bent and stretching, extension elemental motion, the length in mechanical framework in such a way that two motors cooperate with according to Patients with Stroke arm Degree helps Patients with Stroke to carry out the rehabilitation training of buckling arm and stretching, extension；For collapse from physical exhaustion phase paralytic's myasthenia the case where, Reach the rehabilitation training that control patient's arm carries out buckling and stretching, extension by controlling track, that is, arm end track of gloves Purpose；The distance that two vertical support rods are controlled using optoelectronic switch, judges motor corner using angular transducer, using table Facial muscle electric transducer detects the degree of fatigue of patient's arm, protects the arm of patient not by secondary damage；Using upper limb training Control algolithm controls entire upper limb training device.

Therefore, the present invention is aiming at the problem that existing upper limb training device technical deficiency, proposes on a kind of Patients with Stroke Limb training device.

Summary of the invention

Structure is complicated for existing arm rehabilitation therapeutic device, controls complexity to the motion profile of arm, adapts to different patients The ability of arm structure is poor, and for the Patients with Stroke of different arm structure states, it is simple to propose a kind of structure, adaptability By force, the simple upper limb training device of trajectory planning is suffered from such a way that two motors cooperate with according to headstroke in mechanical framework The length of person's arm；By the track, that is, arm end track for controlling gloves；Two vertical supports are controlled using optoelectronic switch The distance of bar judges motor corner using angular transducer, and the degree of fatigue of patient's arm is detected using surface myoelectric sensor, Protect the arm of patient not by secondary damage；Entire upper limb training device is controlled using upper limb Training Control algorithm, Reach the rehabilitation training purpose that control patient's arm carries out buckling and stretching, extension.

In order to achieve the above objectives, technical solution provided by the invention is.

A kind of Patients with Stroke upper limb training device, including mechanical framework, power plant module, main control module, detection module, peace Full module；It is characterized by: the mechanical framework include pedestal, vertical support rod, horizontal support bar, fixed pulley, nylon rope, Sliding block；The power plant module includes motor, motor driver and gloves；The main control module is STM32；The detection Module is angular transducer and optoelectronic switch；The security module is surface myoelectric sensor；Security module and main control module Pass through SPI communication.

The present invention carries out whole control to upper limb training device using main control chip, acquires motor by angular transducer and turns Angular speed is converted linear velocity by angle, and the translation of support rod is converted into motor；Vertical support is acquired by optoelectronic switch The distance of bar B and vertical support rod F, and main control chip control motor rotation is issued, control the distance of two support rods.

The present invention uses control motor M1 or use according to patient's arm length during designing mechanical framework Control motor M1 and motor M2 rotates to reach driving mechanical actuating mechanism work simultaneously, so that patient's arm be driven to carry out rehabilitation Trained purpose.

The present invention is attached to the flesh of arm using myoelectric sensor acquisition muscular fatigue or spasm signal, surface myoelectric sensor Meat surface acquires and transmits the spasm of arm muscles or tired signal, spasm or tired signal are transferred to master control mould by SPI Block, main control module are controlled the deceleration or braking of motor by pwm signal according to the fatigue or spasm signal of transmission, stop arm Rehabilitation training, protect the safety of patient.

The present invention is directed to the case where collapsing from physical exhaustion phase paralytic's myasthenia, passes through the track, that is, arm end rail for controlling gloves Mark carries out rehabilitation training to achieve the purpose that control patient's arm.

The present invention carries out arm rehabilitation training, input to patient using upper limb Training Control algorithm control upper limb training device Patient arm length L1, main control module judge arm length；If arm length L1 is less than the move distance of traction mechanism B L2, then main control module control motor M1 starting；If arm length L1 is not less than the move distance L2 of traction mechanism B, master control mould Block controls motor M1 and motor M2 starting, and control motor corner reaches the vertical support rod B that optoelectronic switch detects and vertical support Distance DE=L1-L2 of bar F；Judge whether arm muscles are tired by surface myoelectric sensor, if detection all muscular fatigues, Stop rehabilitation training immediately, if muscular fatigue is not detected, whether training of judgement number reaches 10 times；If not up to 10 times, Then judge whether arm muscles are tired again, if frequency of training reaches 10 times, stops rehabilitation training, algorithm terminates.

The mechanical framework includes pedestal, vertical support rod, horizontal support bar, fixed pulley, nylon rope, sliding block.

The power plant module includes motor, motor driver and gloves.

The main control module is STM32.

The detection module includes angular transducer: BWT901BCL gyroscope acceleration transducer.

The detection module includes optoelectronic switch: QT50CM type correlation Photoelectric infrared switch.

The security module is surface myoelectric sensor: MikiHousemyoware muscle signal sensor.

Using Analyzing on Building A Planning Scheme of the invention, compared with prior art, have the advantages that.

(1) a kind of Patients with Stroke upper limb training device of the invention, structure is simple, for collapse from physical exhaustion phase paralytic's flesh without The case where power, reaches the mesh that control patient's arm carries out rehabilitation exercise by controlling track, that is, arm end track of gloves 's.

(2) a kind of Patients with Stroke upper limb training device of the invention, in mechanical framework design process, according to patient's Otherness controls motor M1 according to arm length or uses control motor M1 and motor M2 while rotating to reach driving machine Tool executing agency work, to achieve the purpose that patient's arm carries out rehabilitation training.

Detailed description of the invention

Fig. 1 is the mechanical structure main view of the upper limb training device.

Fig. 2 is the control system figure of the upper limb training device.

Fig. 3 is the algorithm flow chart of the upper limb training device.

Specific embodiment

The invention will be further described with the following Examples.

Referring to Fig. 1, the mechanical framework includes pedestal A, vertical support rod B, horizontal support bar C, vertical support rod F, Fixed pulley P1, fixed pulley P2, nylon rope, sliding block.

Referring to Fig. 1, the power plant module includes motor M1, motor M2, motor driver and gloves G.

Referring to Fig. 1, the detection module includes optoelectronic switch D, E.

Referring to Fig. 1, fixed pulley P1 is connect with motor M1 by nylon rope, and is fixed in pedestal, and vertical support rod B passes through Sliding block is connected on pedestal, and the top of vertical support rod B is fixed in the left end of horizontal support bar C, and fixed pulley P2 and motor M2 are logical Nylon rope connection is crossed, is fixed in horizontal support bar C, vertical support rod F is connected on horizontal support bar C by sliding block, gloves G It is connected with vertical support rod F, sending and receiving apparatus D, E of optoelectronic switch are individually fixed in vertical support rod B, vertical support rod F On.

Referring to Fig. 2, before rehabilitation training starts, patient's arm length L1 is measured, the hand of patient is fixed on gloves G In, main control chip controls electric motor starting quantity according to the judging result to patient's arm length L1, if only starting motor M1, DE keeps initial distance, and the corner of motor is controlled by angular transducer；If starting motor M1 and M2, pass through photoelectric sensor DE judges the difference of the move distance L2 of arm length L1 and traction mechanism B, then makes motor rotational angle by angular transducer Properly, reach DE distance be arm length L1 and traction mechanism B move distance L2 difference.

Referring to Fig. 2, electromyography signal of patient's arm in rehabilitation training is acquired by myoelectric sensor, passes through myoelectricity Signal judges the spasm or tired situation of patient, will when myoelectric sensor detects the spasm or fatigue signal of patient's arm Spasm or tired signal are sent to main control chip, and main control chip control motor stops operating immediately, guarantee the safety of patient.

Referring to Fig. 3, entire upper limb training system is controlled using upper limb Training Control algorithm, the upper limb Training Control Algorithm steps are as follows.

1. inputting patient's arm length L1, main control module judges arm length.

2. main control module controls motor M1 starting if arm length L1 is less than the move distance L2 of traction mechanism B；If hand Arm lengths L1 is not less than the move distance L2 of traction mechanism B, then main control module control motor M1 and motor M2 starting, controls motor Corner reaches distance DE=L1-L2 of the vertical support rod B and vertical support rod F of optoelectronic switch detection.

3. judging whether arm muscles are tired by surface myoelectric sensor, if detection all muscular fatigues, stop immediately Rehabilitation training, if muscular fatigue is not detected, whether training of judgement number reaches 10 times.

4. executing step 3., if frequency of training reaches 10 times, stopping rehabilitation training, algorithm terminates if not up to 10 times.

Basic principle of the invention, implementation process and advantages of the present invention, the technology of the industry has been shown and described above Personnel are it should be appreciated that the present invention is not limited to the above embodiments, without departing from the spirit and scope of the present invention, this hair Bright to will also have various changes and improvements, these changes and improvements all fall within the protetion scope of the claimed invention, the present invention claims Protection scope is defined by the appending claims and its equivalent thereof.

Claims (4)

1. a kind of Patients with Stroke upper limb training device, including mechanical framework, power plant module, main control module, detection module, safety Module；It is characterized by: the mechanical framework includes pedestal, vertical support rod, horizontal support bar, fixed pulley, nylon rope, cunning Block；The power plant module includes motor, motor driver and gloves；The main control module is STM32；The detection mould Block includes angular transducer and optoelectronic switch；The security module is surface myoelectric sensor；Security module and main control module Pass through SPI communication.

2. a kind of Patients with Stroke upper limb training device according to claim 1, it is characterised in that: the mechanical framework In, control motor (M1) is used according to patient's arm length or is used control motor M1 and motor M2 while being rotated to reach Mechanical actuating mechanism work is driven, to drive the purpose of patient's arm progress rehabilitation training.

3. a kind of Patients with Stroke upper limb training device according to claim 1, it is characterised in that: interim for collapsing from physical exhaustion The case where wind patient's myasthenia, reaches control patient's arm by controlling track, that is, arm end track of gloves and carries out health The purpose that refreshment is practiced.

4. a kind of Patients with Stroke upper limb training device according to claim 1, it is characterised in that: the control algolithm For upper limb Training Control algorithm, the step of algorithm, is as follows: 1. input patient's arm length L1, main control module to arm length into Row judgement；2. main control module controls motor M1 starting if arm length L1 is less than the move distance L2 of traction mechanism B；If hand Arm lengths L1 is not less than the move distance L2 of traction mechanism B, then main control module control motor M1 and motor M2 starting, controls motor Corner reaches distance DE=L1-L2 of the vertical support rod B and vertical support rod F of optoelectronic switch detection；3. being passed by surface myoelectric Sensor judges whether arm muscles are tired, if detection all muscular fatigues, stop rehabilitation training, if it is tired that muscle is not detected immediately Labor, then whether training of judgement number reaches 10 times；4. step is executed 3. if not up to 10 times, if frequency of training reaches 10 times, Stop rehabilitation training, algorithm terminates.