CN110179626A - A kind of exercising apparatus for recovery of upper limb and method - Google Patents
A kind of exercising apparatus for recovery of upper limb and method Download PDFInfo
- Publication number
- CN110179626A CN110179626A CN201910453443.9A CN201910453443A CN110179626A CN 110179626 A CN110179626 A CN 110179626A CN 201910453443 A CN201910453443 A CN 201910453443A CN 110179626 A CN110179626 A CN 110179626A
- Authority
- CN
- China
- Prior art keywords
- jib
- counter
- signal
- output shaft
- muscle
- 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
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/22—Ergometry; Measuring muscular strength or the force of a muscular blow
- A61B5/224—Measuring muscular strength
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/316—Modalities, i.e. specific diagnostic methods
- A61B5/389—Electromyography [EMG]
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1253—Driving means driven by a human being, e.g. hand driven
- A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
- A61H2201/1269—Passive exercise driven by movement of healthy limbs
- A61H2201/1276—Passive exercise driven by movement of healthy limbs by the other leg or arm
Abstract
The present invention relates to a kind of exercising apparatus for recovery of upper limb and methods, including the horizontally disposed servo motor of bracket, output shaft, counter-jib, gripping device, measuring system and control system, the bracket to be used to support servo motor；The output shaft of the servo motor is fixedly connected with rotating arm one end, and the rotating arm can rotate in perpendicular using output shaft as center of rotation；One end of the counter-jib and the other end of rotating arm are rotatablely connected by connecting shaft, and the counter-jib can rotate in perpendicular using connecting shaft as center of rotation, and the connecting shaft is vertically arranged with output shaft；The gripping device is rotatably dispose in counter-jib upper surface.The present invention can be rotated simultaneously or separately in multiple perpendiculars, the rehabilitation training of upper limb is realized by active movement and passive movement, patient is set not only to be able to maintain joint after rehabilitation training flexible, improve the state of muscle, and effective control of the new nerve pathway to restore brain to limbs can be established.
Description
Technical field
The invention belongs to rehabilitation training technical fields, and in particular to a kind of exercising apparatus for recovery of upper limb and method.
Background technique
Since the diseases such as cerebral apoplexy disease, brain trauma, spinal cord injury or wound cause the patient of upper extremity exercise obstacle usual
Need to receive the adjuvant treatment of rehabilitation training of upper limbs.Exercising apparatus for recovery of upper limb can be used for as a kind of rehabilitation medicine equipment
The patient for making to have been subjected to muscle or neurological disorder is helped to carry out rehabilitation training, to make the motion function and nerves reaction of patient
Coordination function is preferably restored, and also has rehabilitation expense is lower, exercise intensity is controllable, the rehabilitation training duration is long etc.
Advantage.
Inventor thinks that existing exercising apparatus for recovery of upper limb has the following deficiencies:
1) in the exercising apparatus for recovery of upper limb that patient uses at present, the upper limb of patient is in support device and lift drive mechanism
Drive under moved, passivity is stronger, lack initiative.Principle is actively engaged in have been connect extensively by rehabilitation training now
By the effort of individual interaction is the key that motor skill training.It is flexible that passive movement therapy can assist in keeping joint, improves flesh
The state of meat, but limbs are controlled to brain is restored to which the effect for establishing new nerve pathway is relatively poor.
2) existing exercising apparatus for recovery of upper limb only can be realized translation or rotation of the upper limb along single axis, motion mode
Few, the motion range of upper limb is small.
3) during passive exercise, upper limb displacement and the upper limb flesh of exercising apparatus for recovery of upper limb drive cannot be monitored in real time
Relationship between meat change in electric, cannot the timely stop motion in the uncomfortable situation of upper limb, single patient cannot be directed to
The corresponding relationship of upper extremity exercise Yu muscle electric signal is established, targetedly to carry out rehabilitation to different patients.
Summary of the invention
The purpose of the present invention is to overcome above-mentioned the deficiencies in the prior art, provide a kind of exercising apparatus for recovery of upper limb and side
Method.
It is a first object of the present invention to provide a kind of exercising apparatus for recovery of upper limb, it can be simultaneously or separately multiple vertical
Rotation in surface is realized the rehabilitation training of upper limb by active movement and passive movement, makes patient's not only energy after rehabilitation training
It keeps joint flexible, improves the state of muscle, additionally it is possible to the effective control for establishing new nerve pathway to restore brain to limbs
System.
It is a second object of the invention to provide a kind of rehabilitation training of upper limbs method, can instruct in rehabilitation training of upper limbs
Active movement, guarantee the balance training of both hands, to achieve the purpose that establish new nerve pathway,.
It is a third object of the invention to provide another rehabilitation training of upper limbs method, can instruct rehabilitation training of upper limbs
In active movement, reach relative position of the both hands in active movement and change, increase the motion range of upper limb.
To achieve the above object, the present invention adopts the following technical solutions: a kind of exercising apparatus for recovery of upper limb, including bracket,
The horizontally disposed servo motor of output shaft, counter-jib, gripping device, measuring system and control system.
The bracket is used to support servo motor；
The output shaft of the servo motor is fixedly connected with rotating arm one end, and the rotating arm can be rotation with output shaft
Center rotates in perpendicular；
Using the rotation of servo motor driving rotating arm, two upper limbs can be driven to be in balance in rotating arm rotation process
Promotion when state with put down, can realize that the rehabilitation of upper limb is instructed using the active movement of upper limb when servo motor does not rotate
White silk, servo motor and rotating arm only realize the guiding of movement at this time.
One end of the counter-jib and the other end of rotating arm are rotatablely connected by connecting shaft, and the counter-jib can be with even
Spindle is center of rotation in the rotation in surface perpendicular to rotating arm, and the connecting shaft is vertically arranged with output shaft.
Using balance arm configuration, the parallel of two arms in upper limb can be realized in upper extremity exercise, realizes two arms
Rehabilitation training simultaneously, training synergistic effect.
Meanwhile counter-jib can be rotated along rotating arm, when upper limb is driven by rotating arm and realizes promotion with falling, also can
Change the positional relationship between two arms, change the equilibrium state of two arms, realizes the movement of upper limb in a wider context.
The gripping device is rotatably dispose in counter-jib upper surface, and power is equipped between the gripping device and counter-jib and is sensed
Device, the gripping device grasp for realizing the both hands of user；Gripping device can 360 ° rotation, adapt to upper limb during exercise,
Hand grasps the variation of position and angle.
The measuring system includes the angular displacement sensor being coaxially disposed with connecting shaft, is attached at user's muscle of upper extremity
To acquire myoelectric sensor, the force snesor of electromyography signal.
The control system is for receiving the angular displacement signal of servo motor, the signal of angular displacement sensor, force snesor
The muscle of upper extremity force signal and the electromyography signal that measures of myoelectric sensor measured, obtain electromyography signal, muscle of upper extremity force with
The corresponding relationship of user's upper limb displacement.
Using being used cooperatively for measuring system and control system, displacement and muscle electric signal when can measure upper extremity exercise,
The relationship of muscle of upper extremity force can targetedly carry out upper extremity exercise according to muscle electric signal, muscle of upper extremity force situation
The planning of track improves the effect of rehabilitation training of upper limbs；Avoid the upper extremity exercise of a certain motion profile over or under.
The present invention provides a kind of rehabilitation training of upper limbs method, comprising the following steps:
Support frame height, counter-jib are adjusted at a distance from output shaft according to the height of patient, patient's hands grasping grasping dress
It sets；
Patient's both hands keeping parallelism simultaneously guarantees that counter-jib is in horizontality；
Both hands are promoted and are fallen to realize rotation of the rotating arm along output shaft；
Myoelectric sensor incudes the electric signal of muscle of upper extremity during bimanual movements, and controller reads the letter of myoelectric sensor
Number and judge the moving situation of muscle at this time, the variation of force sensor measuring patient's muscle of upper extremity force；
The present invention also provides another rehabilitation training of upper limbs methods, the following steps are included:
Support frame height, counter-jib are adjusted at a distance from output shaft according to the height of patient, patient's hands grasping grasping dress
It sets；
Both hands are promoted and are fallen to realize rotation of the rotating arm along output shaft；During rotating arm rotation；Both hands point
Not Kong Zhi counter-jib along connecting shaft swing；
Myoelectric sensor incudes the electric signal of muscle of upper extremity during bimanual movements, force sensor measuring patient's muscle of upper extremity
The variation of force, controller read the signal and simultaneously of the signal of myoelectric sensor, muscle of upper extremity force signal, angular displacement sensor
Judge the moving situation of muscle at this time；
The corresponding relationship of angular displacement sensor signal and myoelectric sensor signal, muscle of upper extremity force signal is established to instruct
The motion profile of rehabilitation training next time.
Beneficial effects of the present invention:
(1) present invention is due to that using the above structure, can carry out rehabilitation training with single armed or both arms, healthy side arm can play
Drive the effect of Ipsilateral arm motion.
(2) present invention can use under servo motor starting or off-position, after servo motor is powered starting, can adjust
To be suitble to the rotation speed of patient to carry out rehabilitation training；Under servo motor off-position, patient can be by the resistance of servo motor
The weight of Buddhist nun and device carries out the rehabilitation training for having under certain load state.
(3) length of adjustable support of the present invention, rotating arm meets the training requirement of different heights, brachium patient.
(4) counter-jib, rotating arm, gripping device can realize respectively rotation or certain in different perpendiculars in the present invention
Swing in angular range meets the requirement of patient's difference rehabilitation training.
(5) present invention is able to carry out the hand eye coordination rehabilitation training of initiative, keeps joint flexible, improves the shape of muscle
State, and effective control of the new nerve pathway to restore brain to limbs can be established.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation do not constitute the restriction to the application for explaining the application.
Fig. 1 is overall structure diagram in the embodiment of the present invention.
Fig. 2 is partial structural diagram in the embodiment of the present invention.
Fig. 3 is the schematic diagram of the first use state in the embodiment of the present invention；
When Fig. 4 in the embodiment of the present invention the second use state schematic diagram.
Wherein, 1, pedestal；2, rod set；3, rack mounting apertures；4, positioning screw；5, adjusting rod；6, rod aperture is adjusted；7, motor
Seat；8, servo motor；9, the first in command；10, the right hand；11, left hand；12, second handle；13, counter-jib；14, rotating arm；15,
Fastening bolt；16, angular displacement sensor；17, the first force snesor；18, the second force snesor；19, connecting shaft；20, bearing；
21, shaft coupling；22, adjustment hole.
Specific embodiment
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
In order to solve the technical issues of referring in background technique, the present invention provides a kind of exercising apparatus for recovery of upper limb, including
Bracket, the horizontally disposed servo motor of output shaft, counter-jib, gripping device, measuring system and control system, the bracket are used for
Support servo motor.
The output shaft of the servo motor is fixedly connected with rotating arm one end, and the rotating arm can be rotation with output shaft
Center rotates in perpendicular；One end of the counter-jib and the other end of rotating arm are rotatablely connected by connecting shaft, described
Counter-jib can be center of rotation in the rotation in surface vertical with rotating arm using connecting shaft, and the connecting shaft is vertical with output shaft
Setting；The gripping device is rotatably dispose in counter-jib upper surface, and the gripping device grasps for realizing the both hands of user；
The measuring system includes the angular displacement sensor being coaxially disposed with connecting shaft, is attached at user's muscle of upper extremity to acquire flesh
The myoelectric sensor of electric signal；The control system is used to receive the letter of the angular displacement signal of servo motor, angular displacement sensor
Number and the muscle of upper extremity force signal that measures of the electromyography signal that measures of myoelectric sensor, force snesor, obtain electromyography signal, grab
The corresponding relationship of holding force signal and the displacement of user's upper limb.
Embodiment 1
As shown in Figs 1-4, a kind of exercising apparatus for recovery of upper limb, including bracket, the horizontally disposed servo motor 8 of output shaft,
Counter-jib 13, gripping device, measuring system and control system.Above-mentioned each component is retouched in detail in conjunction with attached drawing separately below
It states:
Bracket: the bracket is used to support servo motor 8.The bracket can stretch in vertical direction and be fixed on setting
Highly, the top of the bracket is fixedly installed with the servo motor 8.
Specifically, in some embodiments, the bracket includes the rod set 2 being fixedly connected with pedestal 1, the rod set 2
In be equipped with adjusting rod 5, the top of the adjusting rod 5 is fixedly connected with motor cabinet 7, and 7 upper surface of motor cabinet is equipped with described
Servo motor 8.
A column rack mounting apertures 3 are equipped in rod set 2 along the vertical direction, are equipped with a column along the vertical direction in the adjusting rod 5
Rod aperture 6 is adjusted, is equipped with positioning screw 4 in rack mounting apertures 3, after adjusting rod 5 stretches out setting length along rod set 2, utilizes positioning
Screw 4 is fixed by any set of adjusting bars hole 6 of alignment, rack mounting apertures 3.Locking rod set 2 and adjusting rod 5 can be reached
Purpose.Positioning screw 4 herein uses common screw；It adjusts rod aperture 6 and rack mounting apertures 3 is threaded hole.
Rotating arm 14 is with counter-jib 13: the output shaft of the servo motor 8 is fixedly connected with 14 one end of rotating arm, the rotation
Pivoted arm 14 can rotate in perpendicular using output shaft as center of rotation；
The rotating arm 14 is equipped with multiple adjustment holes 22 close to one end of output shaft, and the output shaft can be installed on difference
With the distance between adjustment arm 13 and output shaft in adjustment hole 22.
Specifically, in some embodiments, internal screw thread is equipped in adjustment hole 22, the output shaft end of motor is equipped with screw thread
Hole, is equipped with fastening bolt 15 in adjustment hole 22, and fastening bolt 15 sequentially passes through motor output shaft after adjustment hole 22 and threaded hole
It is fixedly connected with rotating arm 14.
One end of the counter-jib 13 and the other end of rotating arm 14 are rotatablely connected by connecting shaft 19, the counter-jib 13
It can be center of rotation with connecting shaft 19 in the rotation in surface of vertical rotary arm 14, the connecting shaft 19 is vertical with output shaft to be set
It sets；
The one end of the rotating arm 14 far from output shaft is equipped with connecting shaft 19 by bearing 20, and the one of the connecting shaft 19
End is fixedly connected with counter-jib 13, and the other end is fixedly connected by shaft coupling 21 with angular displacement sensor.
The output shaft of the servo motor 8 is vertical with 14 axis of rotating arm, the axis of rotating arm 14 and the axis of counter-jib 13
Line is vertical.
Gripping device: the gripping device is rotatably dispose in 13 upper surface of counter-jib, and the gripping device is for realizing making
The both hands of user grasp；
Further, the gripping device includes the first in command 9 and the second handle 12 for being installed on 13 both ends of counter-jib, described
The distance between the first in command 9 and second handle 12 can be adjusted.
Specifically, in some embodiments, to adjust the distance between the first in command 9 and second handle 12, Ke Yi
One column mounting hole is set on counter-jib 13, it is real in such a way that the first in command 9 and second handle 12 are installed on different mounting holes
Existing the distance between the first in command 9 and second handle 12 are adjustable.
Further, force snesor, the power are respectively equipped between the first in command 9 and second handle 12 and counter-jib 13
Sensor is connect with controller signals.First force snesor, second handle 12 and balance are set between the first in command 9 and counter-jib
Second force snesor is set between arm.Connecting portion between force snesor and counter-jib can 360 ° rotate freely.
Measuring system: the measuring system includes the angular displacement sensor being coaxially disposed with connecting shaft 19, is attached to use
Force snesor at person's muscle of upper extremity to acquire the myoelectric sensor of electromyography signal, be mounted on counter-jib；The myoelectricity sensing
Device is connect by data line with controller signals.The controller is connect to export upper limb displacement and myoelectricity with display device signal
The corresponding relationship of signal.Force snesor is connect with controller signals.The controller is connect on to export with display device signal
The corresponding relationship of limb displacement and muscle of upper extremity force signal.
Specifically, in some embodiments, angular displacement sensor can use encoder.
Controller can use microprocessor, such as single chip computer architecture.
Control system: the control system is used to receive the letter of the angular displacement signal of servo motor 8, angular displacement sensor
Number, the muscle of upper extremity force signal that measures of force snesor and the electromyography signal that measures of myoelectric sensor, obtain electromyography signal, on
The corresponding relationship of limb muscle force signal and the displacement of user's upper limb.
Embodiment 2
In order to solve in background technique, existing recovery training method is generally passive exercise mode, not can be carried out and actively instructs
Practice to achieve the purpose that establish new nerve pathway to restore brain effectively controlling to limbs, the present invention provides a kind of upper limb
Recovery training method lays particular emphasis on the training method in the case where guaranteeing upper limb both arms balance collaboration situation, comprising the following steps:
Support frame height, counter-jib 13 are adjusted at a distance from output shaft according to the height of patient, the grasping of patient's hands grasping
Device；
Patient's both hands keeping parallelism simultaneously guarantees that counter-jib 13 is in horizontality；
Both hands have an effect promotion and fall to realize rotating arm 14 along the rotation of output shaft；First force snesor 17 and the second power
Stress condition is passed to controller by sensor 18；
Myoelectric sensor incudes the electric signal of muscle of upper extremity during bimanual movements, and controller reads myoelectric sensor, the
The signal of one force snesor 17 and the second force snesor 18 and the force-bearing situation for judging muscle at this time.
In some embodiments, left hand 11 grasps second handle, and the right hand 10 grasps the first in command, forms first and uses shape
State, in other embodiments, left hand 11 grasp the first in command, and the right hand 10 grasps second handle, form the second use state.
Embodiment 3
In order to solve in background technique, existing recovery training method is generally passive exercise mode, not can be carried out and actively instructs
Practice to achieve the purpose that establish new nerve pathway to restore brain effectively controlling to limbs, the present invention provides a kind of upper limb
Recovery training method lays particular emphasis on while guaranteeing upper limb while moving along direction initialization, carries out relative motion between upper limb both arms,
Increase the motion range of upper limb both arms, comprising the following steps:
Support frame height, counter-jib 13 are adjusted at a distance from output shaft according to the height of patient, the grasping of patient's hands grasping
Device；
Both hands are promoted and are fallen to realize rotating arm 14 along the rotation of output shaft；During rotating arm 14 rotates；It is double
Hand controls counter-jib 13 respectively and swings along connecting shaft 19；First force snesor 17 and the second force snesor 18 exert a force muscle of upper extremity
Situation passes to controller；
Myoelectric sensor incudes the electric signal of muscle of upper extremity during bimanual movements, and controller reads myoelectric sensor, the
One force snesor 17 and the second force snesor 18 measure muscle of upper extremity force signal and judge the moving situation of muscle at this time.
Establish the signal and myoelectric sensor of angular displacement sensor signal, the first force snesor 17, the second force snesor 18
The corresponding relationship of signal is to instruct the motion profile of rehabilitation training next time.
Embodiment 4
In order to solve in background technique, existing recovery training method is generally passive exercise mode, not can be carried out and actively instructs
Practice to achieve the purpose that establish new nerve pathway to restore brain effectively controlling to limbs, the present invention provides a kind of upper limb
Recovery training method lays particular emphasis on and provides resistance using the slow movement of servo motor 8, allows the patient in 8 mould of servo motor
In the case where quasi- load, the rehabilitation training of upper limb is carried out.
Support frame height, counter-jib 13 are adjusted at a distance from output shaft according to the height of patient, the grasping of patient's hands grasping
Device；
Start servo motor 8, so that servo motor 8 drives rotating arm 14 slowly to rotate, servo motor 8 drives rotating arm
The direction of 14 rotations is consistent with the direction that upper limb drives rotating arm 14 to rotate；Upper limb applies during the motion along the direction of motion
Pressure is so that the final revolving speed of rotating arm 14 is greater than the revolving speed of the script of servo motor 8.
During rotating arm 14 rotates；Upper limb both hands are had an effect respectively to control rotating arm and rotate, but servo motor
Drive the direction of rotating arm rotation consistent with the direction of upper limb both hands driving rotating arm rotation, but because servo motor driving rotation
The speed of pivoted arm rotation is less than individually using the speed of upper limb driving rotating arm, is equivalent to and turns in the same direction in both hands driving rotating arm
Resistance is provided in dynamic process.
Stress condition is passed to controller by the first force snesor 17 and the second force snesor 18；
Myoelectric sensor incudes the electric signal of muscle of upper extremity during bimanual movements, and controller reads the letter of myoelectric sensor
Number, the muscle of upper extremity force situation that measures of the signal of angular displacement sensor and force snesor and and judge the movement shape of muscle at this time
Condition；
Establish the signal and myoelectric sensor of angular displacement sensor signal, the first force snesor 17, the second force snesor 18
The corresponding relationship of signal is to instruct the motion profile of rehabilitation training next time.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (10)
1. a kind of exercising apparatus for recovery of upper limb, which is characterized in that including,
Bracket, the bracket are used to support servo motor；
The output shaft of the horizontally disposed servo motor of output shaft, the servo motor is fixedly connected with rotating arm one end, the rotation
Pivoted arm can rotate in perpendicular using output shaft as center of rotation；
Counter-jib, one end of the counter-jib and the other end of rotating arm are rotatablely connected by connecting shaft, and the counter-jib can
It is rotated in perpendicular using connecting shaft as center of rotation, the connecting shaft is vertically arranged with output shaft；
Gripping device, the gripping device are rotatably dispose in counter-jib upper surface, are equipped between the gripping device and counter-jib
Force snesor, the gripping device grasp for realizing the both hands of user；
Measuring system, the measuring system include the angular displacement sensor being coaxially disposed with connecting shaft, are attached to user's upper limb
Myoelectric sensor, the force snesor of electromyography signal are acquired at muscle；
Control system, the control system are passed for receiving the angular displacement signal of servo motor, the signal of angular displacement sensor, power
The muscle of upper extremity force signal that sensor measures and the electromyography signal that myoelectric sensor measures, obtain electromyography signal and muscle of upper extremity
The corresponding relationship that the signal that exerts a force is displaced with user's upper limb.
2. exercising apparatus for recovery of upper limb according to claim 1, which is characterized in that the rotating arm far from output shaft one
End is equipped with connecting shaft by bearing, and one end of the connecting shaft is fixedly connected with counter-jib, the other end and angular displacement sensor
It is fixedly connected.
3. exercising apparatus for recovery of upper limb according to claim 1, which is characterized in that the bracket can be stretched in vertical direction
It contracts and is fixed on setting height, the top of the bracket is fixedly installed with the servo motor.
4. exercising apparatus for recovery of upper limb according to claim 1, which is characterized in that the rotating arm close to output shaft one
End is equipped with multiple adjustment holes, the output shaft can be installed in different adjustment hole between adjustment arm and output shaft away from
From.
5. exercising apparatus for recovery of upper limb according to claim 1, which is characterized in that the gripping device is flat including being installed on
The first in command and second handle, the distance between the first in command and second handle at weighing apparatus arm both ends can be adjusted.
6. exercising apparatus for recovery of upper limb according to claim 5, which is characterized in that the first in command and second handle with
It is respectively equipped with force snesor before counter-jib, the force snesor is connect with controller signals.
7. exercising apparatus for recovery of upper limb according to claim 1, which is characterized in that the output shaft of the servo motor and rotation
Pivoted arm axis is vertical, and the axis of rotating arm and the axis of counter-jib are vertical.
8. exercising apparatus for recovery of upper limb according to claim 3, which is characterized in that the myoelectric sensor passes through data line
It is connect with controller signals；
The controller is connect to export the corresponding relationship of upper limb displacement and electromyography signal with display device signal.
9. exercising apparatus for recovery of upper limb described in any one of claim 1-8 is utilized in a kind of rehabilitation training of upper limbs method,
It is characterized in that the following steps are included:
Support frame height, counter-jib are adjusted at a distance from output shaft according to the height of patient, patient's hands grasping gripping device；
Patient's both hands keeping parallelism simultaneously guarantees that counter-jib is in horizontality；
Both hands are promoted and are fallen to realize rotation of the rotating arm along output shaft；
Myoelectric sensor incudes the electric signal of muscle of upper extremity during bimanual movements, and controller reads the signal of myoelectric sensor simultaneously
Judge the moving situation of muscle at this time, the muscle of upper extremity force signal that force snesor measures.
10. the dress of rehabilitation training of upper limbs described in any one of claim 1-8 is utilized in a kind of rehabilitation training of upper limbs method
It sets, which comprises the following steps:
Support frame height, counter-jib are adjusted at a distance from output shaft according to the height of patient, patient's hands grasping gripping device；
Both hands are promoted and are fallen to realize rotation of the rotating arm along output shaft；During rotating arm rotation；Both hands are controlled respectively
Counter-jib processed is swung along connecting shaft；
Myoelectric sensor incudes the electric signal of muscle of upper extremity during bimanual movements, force sensor measuring patient's muscle of upper extremity force
Variation, controller read myoelectric sensor signal, muscle of upper extremity force signal, angular displacement sensor signal and and judge
The moving situation of muscle at this time；
It is next to instruct to establish angular displacement sensor signal, myoelectric sensor signal and the corresponding relationship of muscle of upper extremity force signal
The motion profile of secondary rehabilitation training.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910453443.9A CN110179626B (en) | 2019-05-28 | 2019-05-28 | Upper limb rehabilitation training device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910453443.9A CN110179626B (en) | 2019-05-28 | 2019-05-28 | Upper limb rehabilitation training device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110179626A true CN110179626A (en) | 2019-08-30 |
| CN110179626B CN110179626B (en) | 2021-02-26 |
Family
ID=67718348
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910453443.9A Active CN110179626B (en) | 2019-05-28 | 2019-05-28 | Upper limb rehabilitation training device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110179626B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110547950A (en) * | 2019-09-30 | 2019-12-10 | 河南省肿瘤医院 | patient muscle rehabilitation training device |
| CN111281752A (en) * | 2020-03-18 | 2020-06-16 | 山东建筑大学 | Upper limb rehabilitation training system and method for executing movement intention |
Citations (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070265146A1 (en) * | 2006-05-11 | 2007-11-15 | Jan Kowalczewski | Method and apparatus for automated delivery of therapeutic exercises of the upper extremity |
| US20080153682A1 (en) * | 2006-12-22 | 2008-06-26 | Cycling & Health Tech Industry R & D Center | Exercise training system providing programmable guiding track |
| US20090306553A1 (en) * | 2008-05-29 | 2009-12-10 | Assistive Resources, Llc | Portable therapeutic support handle |
| CN102078678A (en) * | 2011-01-19 | 2011-06-01 | 北京理工大学 | Magnetic powder brake-based upper limb rehabilitation device |
| CN102258411A (en) * | 2011-05-03 | 2011-11-30 | 上海理工大学 | Cable control type upper limb function training robot arm |
| CN102933269A (en) * | 2010-03-23 | 2013-02-13 | 工业研究有限公司 | Exercise system and controller |
| KR20140111439A (en) * | 2013-03-11 | 2014-09-19 | 이성규 | Haptic rehabilitation training device |
| CN203852545U (en) * | 2014-05-13 | 2014-10-01 | 江苏永发医用设备有限公司 | Arm rehabilitation training device |
| CN104921903A (en) * | 2014-03-17 | 2015-09-23 | 株式会社K.D.M | Multi-Type Upper Limbs Muscle Rehabilitation Exercise Device |
| CN205433720U (en) * | 2015-12-10 | 2016-08-10 | 杭州师范大学 | Upper limbs muscle strength tester |
| EP3056182A1 (en) * | 2015-02-09 | 2016-08-17 | Hiwin Technologies Corp. | Upper extremity rehabilitation device |
| CN205459686U (en) * | 2016-01-14 | 2016-08-17 | 清华大学 | Rehabilitation training device |
| CN106176133A (en) * | 2016-07-07 | 2016-12-07 | 庞林琳 | A kind of recovery bracket after mammary cancer chemotherapy |
| CN206700621U (en) * | 2017-04-29 | 2017-12-05 | 浙江大学台州研究院 | A kind of rehabilitation training of upper limbs mechanism |
| CN206715188U (en) * | 2017-05-22 | 2017-12-08 | 江苏建筑职业技术学院 | Arm strength body-building device |
| CN107468483A (en) * | 2017-09-11 | 2017-12-15 | 广州晓康医疗科技有限公司 | A kind of upper limbs pendulous device and the walking rehabilitation training robot with the device |
| CN206910696U (en) * | 2017-01-03 | 2018-01-23 | 上海卓道医疗科技有限公司 | A kind of plane upper-limbs rehabilitation training robot with flexible joint |
| CN107812360A (en) * | 2017-12-07 | 2018-03-20 | 同济大学浙江学院 | Upper limbs coordinates device for healing and training |
| CN108553265A (en) * | 2018-03-30 | 2018-09-21 | 东南大学 | Both upper extremities device for healing and training |
| CN108654007A (en) * | 2018-06-19 | 2018-10-16 | 武汉理工大学 | It is a kind of to stretch the column robot assisted device restored for upper limb |
| CN208049239U (en) * | 2018-04-09 | 2018-11-06 | 湖南现代物流职业技术学院 | A kind of strength detecting system based on upper limb training |
| CN108786006A (en) * | 2018-05-31 | 2018-11-13 | 芜湖启邦电力技术服务有限公司 | A kind of body-building puller system |
| CN109152944A (en) * | 2016-05-27 | 2019-01-04 | 株式会社耐奥飞特 | Device for healing and training |
| EP3221015B1 (en) * | 2014-11-17 | 2019-01-23 | FYNAMICS GmbH | Training device with three-dimensional position detection, and operating method thereof |
| WO2019016720A1 (en) * | 2017-07-18 | 2019-01-24 | Beable Health Pvt Ltd | Apparatuses for arm exercise |
| CN208511779U (en) * | 2018-07-11 | 2019-02-19 | 北京大学深圳医院 | Post lumbar surgery lower limb resistance functional training device |
| CN208678253U (en) * | 2018-04-27 | 2019-04-02 | 河南翔宇医疗设备股份有限公司 | A kind of comprehensive training platform of the hand with damping |
| CN109701249A (en) * | 2019-02-28 | 2019-05-03 | 东莞理工学院 | A kind of workout data tester |
-
2019
- 2019-05-28 CN CN201910453443.9A patent/CN110179626B/en active Active
Patent Citations (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070265146A1 (en) * | 2006-05-11 | 2007-11-15 | Jan Kowalczewski | Method and apparatus for automated delivery of therapeutic exercises of the upper extremity |
| US20080153682A1 (en) * | 2006-12-22 | 2008-06-26 | Cycling & Health Tech Industry R & D Center | Exercise training system providing programmable guiding track |
| US20090306553A1 (en) * | 2008-05-29 | 2009-12-10 | Assistive Resources, Llc | Portable therapeutic support handle |
| CN102933269A (en) * | 2010-03-23 | 2013-02-13 | 工业研究有限公司 | Exercise system and controller |
| CN102078678A (en) * | 2011-01-19 | 2011-06-01 | 北京理工大学 | Magnetic powder brake-based upper limb rehabilitation device |
| CN102258411A (en) * | 2011-05-03 | 2011-11-30 | 上海理工大学 | Cable control type upper limb function training robot arm |
| KR20140111439A (en) * | 2013-03-11 | 2014-09-19 | 이성규 | Haptic rehabilitation training device |
| CN104921903A (en) * | 2014-03-17 | 2015-09-23 | 株式会社K.D.M | Multi-Type Upper Limbs Muscle Rehabilitation Exercise Device |
| CN203852545U (en) * | 2014-05-13 | 2014-10-01 | 江苏永发医用设备有限公司 | Arm rehabilitation training device |
| EP3221015B1 (en) * | 2014-11-17 | 2019-01-23 | FYNAMICS GmbH | Training device with three-dimensional position detection, and operating method thereof |
| EP3056182A1 (en) * | 2015-02-09 | 2016-08-17 | Hiwin Technologies Corp. | Upper extremity rehabilitation device |
| CN205433720U (en) * | 2015-12-10 | 2016-08-10 | 杭州师范大学 | Upper limbs muscle strength tester |
| CN205459686U (en) * | 2016-01-14 | 2016-08-17 | 清华大学 | Rehabilitation training device |
| CN109152944A (en) * | 2016-05-27 | 2019-01-04 | 株式会社耐奥飞特 | Device for healing and training |
| CN106176133A (en) * | 2016-07-07 | 2016-12-07 | 庞林琳 | A kind of recovery bracket after mammary cancer chemotherapy |
| CN206910696U (en) * | 2017-01-03 | 2018-01-23 | 上海卓道医疗科技有限公司 | A kind of plane upper-limbs rehabilitation training robot with flexible joint |
| CN206700621U (en) * | 2017-04-29 | 2017-12-05 | 浙江大学台州研究院 | A kind of rehabilitation training of upper limbs mechanism |
| CN206715188U (en) * | 2017-05-22 | 2017-12-08 | 江苏建筑职业技术学院 | Arm strength body-building device |
| WO2019016720A1 (en) * | 2017-07-18 | 2019-01-24 | Beable Health Pvt Ltd | Apparatuses for arm exercise |
| CN107468483A (en) * | 2017-09-11 | 2017-12-15 | 广州晓康医疗科技有限公司 | A kind of upper limbs pendulous device and the walking rehabilitation training robot with the device |
| CN107812360A (en) * | 2017-12-07 | 2018-03-20 | 同济大学浙江学院 | Upper limbs coordinates device for healing and training |
| CN108553265A (en) * | 2018-03-30 | 2018-09-21 | 东南大学 | Both upper extremities device for healing and training |
| CN208049239U (en) * | 2018-04-09 | 2018-11-06 | 湖南现代物流职业技术学院 | A kind of strength detecting system based on upper limb training |
| CN208678253U (en) * | 2018-04-27 | 2019-04-02 | 河南翔宇医疗设备股份有限公司 | A kind of comprehensive training platform of the hand with damping |
| CN108786006A (en) * | 2018-05-31 | 2018-11-13 | 芜湖启邦电力技术服务有限公司 | A kind of body-building puller system |
| CN108654007A (en) * | 2018-06-19 | 2018-10-16 | 武汉理工大学 | It is a kind of to stretch the column robot assisted device restored for upper limb |
| CN208511779U (en) * | 2018-07-11 | 2019-02-19 | 北京大学深圳医院 | Post lumbar surgery lower limb resistance functional training device |
| CN109701249A (en) * | 2019-02-28 | 2019-05-03 | 东莞理工学院 | A kind of workout data tester |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110547950A (en) * | 2019-09-30 | 2019-12-10 | 河南省肿瘤医院 | patient muscle rehabilitation training device |
| CN110547950B (en) * | 2019-09-30 | 2021-06-18 | 河南省肿瘤医院 | Patient muscle rehabilitation training device |
| CN111281752A (en) * | 2020-03-18 | 2020-06-16 | 山东建筑大学 | Upper limb rehabilitation training system and method for executing movement intention |
| WO2021184957A1 (en) * | 2020-03-18 | 2021-09-23 | 山东建筑大学 | Upper limb rehabilitation training system, and method for executing motion intention |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110179626B (en) | 2021-02-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11166866B2 (en) | Lower limb training rehabilitation apparatus | |
| CN110664584B (en) | Rehabilitation training bed | |
| CN202437606U (en) | Lower extremity rehabilitation training device | |
| CN107224385B (en) | Active/passive both arms upper limb rehabilitation robot | |
| CN105943304B (en) | Bed patient's exercising apparatus | |
| KR20120025545A (en) | Device for therapeutically treating and/or training the lower extremities of a person | |
| CN209033075U (en) | Exercising apparatus for recovery of upper limb and rehabilitation equipment | |
| CN110179626A (en) | A kind of exercising apparatus for recovery of upper limb and method | |
| CN204863888U (en) | Hemiplegia patient upper limbs rehabilitation training device | |
| CN108186290A (en) | A kind of passive finger recovering training device of master | |
| CN111616921B (en) | Wrist training device driven by connecting rod reciprocating mechanism | |
| CN207837831U (en) | A kind of leg training rehabilitation equipment | |
| US20050159683A1 (en) | Arm circulation system stretching, recuperative chest enlargement and respiration assistance apparatus | |
| CN207838144U (en) | A kind of planer-type leg training rehabilitation equipment | |
| CN208626131U (en) | Shoulder girdle bionical power-assisted flexible exoskeleton mechanism | |
| CN113350074A (en) | Lower limb rehabilitation exercise bed for neurology | |
| CN110192965A (en) | A kind of device for healing and training | |
| CN109044727B (en) | Bionic arm of medical robot for shoulder joint rehabilitation training and medical robot comprising bionic arm | |
| CN109044728B (en) | Medical shoulder joint rehabilitation training robot with bionic arm | |
| CN201175397Y (en) | Cervical vertebra remedy physiotherapy device | |
| CN108992306A (en) | A kind of multiple degrees of freedom Table top type thumb convalescence device | |
| CN108938330A (en) | Multifunctional shoulder joint rehabilitation training medical robot | |
| ES2908105T3 (en) | rehabilitation device | |
| CN209392331U (en) | A kind of rehabilitation training robot for function of hand | |
| CN208756460U (en) | Wearable wrist rocks power-assisted convalescence device |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |