CN110179626B - A kind of upper limb rehabilitation training device and method - Google Patents
A kind of upper limb rehabilitation training device and method Download PDFInfo
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- CN110179626B CN110179626B CN201910453443.9A CN201910453443A CN110179626B CN 110179626 B CN110179626 B CN 110179626B CN 201910453443 A CN201910453443 A CN 201910453443A CN 110179626 B CN110179626 B CN 110179626B
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 99
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- 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
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- 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
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- 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
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- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- A—HUMAN NECESSITIES
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- 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
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Abstract
本发明涉及一种上肢康复训练装置及方法，包括支架、输出轴水平设置的伺服电机，平衡臂，抓持装置，测量系统和控制系统，所述支架用于支撑伺服电机；所述伺服电机的输出轴与旋转臂一端固定连接，所述旋转臂能够以输出轴为转动中心在竖直平面内转动；所述平衡臂的一端与旋转臂的另一端通过连接轴转动连接，所述平衡臂能够以连接轴为转动中心在竖直平面内转动，所述连接轴与输出轴垂直设置；所述抓持装置转动设置于平衡臂上端面。本发明能同时或分别在多个竖直平面内转动，通过主动运动和被动运动实现上肢的康复训练，使患者不仅在康复训练后能保持关节灵活，改善肌肉的状态，而且能够建立新的神经通路从而恢复大脑对肢体的有效控制。
The invention relates to an upper limb rehabilitation training device and method, comprising a bracket, a servo motor with an output shaft arranged horizontally, a balance arm, a grasping device, a measurement system and a control system, the bracket is used to support the servo motor; The output shaft is fixedly connected with one end of the rotating arm, and the rotating arm can rotate in a vertical plane with the output shaft as the center of rotation; The connecting shaft is rotated in a vertical plane with the connecting shaft as the rotation center, and the connecting shaft is vertically arranged with the output shaft; the gripping device is rotatably arranged on the upper end face of the balance arm. The present invention can rotate in multiple vertical planes at the same time or separately, and realize the rehabilitation training of upper limbs through active movement and passive movement, so that patients can not only maintain joint flexibility after rehabilitation training, improve the state of muscles, but also build new nerves. The pathway thus restores the brain's effective control of the limb.
Description
Technical Field
The invention belongs to the technical field of rehabilitation training, and particularly relates to an upper limb rehabilitation training device and method.
Background
Patients with upper limb dyskinesia caused by stroke diseases, brain trauma, spinal cord injury and other diseases or trauma usually need to receive auxiliary treatment of upper limb rehabilitation training. The upper limb rehabilitation training device, as a rehabilitation medical device, can be used for helping a patient suffering from muscle or nerve disorder to perform rehabilitation training, so that the motor function and the nerve reaction coordination function of the patient can be better recovered, and the upper limb rehabilitation training device also has the advantages of low rehabilitation cost, controllable motor intensity, long rehabilitation training duration and the like.
The inventor considers that the existing upper limb rehabilitation training device has the following defects:
1) in the upper limbs rehabilitation training device that present patient used, patient's upper limbs are carried out the motion under strutting arrangement and lift actuating mechanism's drive, and passive stronger lacks the initiative. Active participation principles are now widely accepted by rehabilitation training, and the effort of individual interaction is the key to motor skill training. Passive motor therapy can help maintain joint flexibility and improve muscle status, but is relatively ineffective in restoring brain control to the limbs and thus establishing new neural pathways.
2) The existing upper limb rehabilitation training device can only realize the translation or rotation of the upper limb along a single axis, the movement mode is less, and the movement range of the upper limb is small.
3) In the passive training process, the relationship between the upper limb displacement driven by the upper limb rehabilitation training device and the change of the upper limb muscle electrical signal cannot be monitored in real time, the movement cannot be stopped in time under the condition of discomfort of the upper limb, and the corresponding relationship between the upper limb movement and the muscle electrical signal cannot be established for a single patient so as to carry out rehabilitation treatment on different patients in a targeted manner.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an upper limb rehabilitation training device and method.
The first objective of the present invention is to provide an upper limb rehabilitation training device, which can rotate in multiple vertical planes simultaneously or respectively, and can realize rehabilitation training of upper limbs through active motion and passive motion, so that a patient can keep the joints flexible and improve the muscle state after rehabilitation training, and can establish a new neural pathway to recover the effective control of the brain on the limbs.
The second objective of the present invention is to provide an upper limb rehabilitation training method, which can guide the active movement in the upper limb rehabilitation training, and ensure the balance training of both hands, so as to achieve the purpose of establishing a new neural pathway.
The third objective of the present invention is to provide another upper limb rehabilitation training method, which can guide the active movement of the upper limb rehabilitation training, so as to change the relative positions of the two hands in the active movement and increase the movement range of the upper limb.
In order to achieve the purpose, the invention adopts the following technical scheme: an upper limb rehabilitation training device comprises a support, a servo motor with an output shaft horizontally arranged, a balance arm, a grasping device, a measuring system and a control system.
The bracket is used for supporting the servo motor;
an output shaft of the servo motor is fixedly connected with one end of a rotating arm, and the rotating arm can rotate in a vertical plane by taking the output shaft as a rotating center;
the servo motor is adopted to drive the rotation of the rotating arm, so that the two upper limbs can be driven to be lifted and put down when being in a balanced state in the rotating process of the rotating arm, the rehabilitation training of the upper limbs can be realized by utilizing the active movement of the upper limbs when the servo motor does not rotate, and the servo motor and the rotating arm only realize the movement guiding at the moment.
The one end of balance arm passes through the connecting axle with the other end of swinging boom and rotates and be connected, the balance arm can use the connecting axle to rotate in the plane of perpendicular to swinging boom as the center of rotation, the connecting axle sets up with the output shaft is perpendicular.
Adopt balanced arm structure, can realize the parallel of two arms in the upper limbs when the upper limbs moves, realize the rehabilitation training of two arms simultaneously, training synergism.
Meanwhile, the balance arm can rotate along the rotating arm, when the upper limb is driven by the rotating arm to realize lifting and falling, the position relation between the two arms can be changed, the balance state of the two arms is changed, and the movement of the upper limb in a larger range is realized.
The grabbing device is rotatably arranged on the upper end face of the balance arm, a force sensor is arranged between the grabbing device and the balance arm, and the grabbing device is used for realizing grabbing of a user by two hands; the holding device can rotate 360 degrees, and is suitable for the change of the holding position and angle of the hand when the upper limb moves.
The measuring system comprises an angular displacement sensor, a myoelectric sensor and a force sensor, wherein the angular displacement sensor is coaxially arranged with the connecting shaft, and the myoelectric sensor and the force sensor are attached to the muscle of the upper limb of a user to collect myoelectric signals.
The control system is used for receiving an angular displacement signal of the servo motor, a signal of the angular displacement sensor, an upper limb muscle force application signal measured by the force sensor and a myoelectric signal measured by the myoelectric sensor, and obtaining a corresponding relation between the myoelectric signal, the upper limb muscle force application and the upper limb displacement of the user.
The measurement system and the control system are matched for use, so that the relation between displacement and muscle electrical signals and the force application of upper limb muscles during the movement of the upper limb can be measured, the upper limb movement track can be planned in a targeted manner according to the muscle electrical signals and the force application conditions of the upper limb muscles, and the upper limb rehabilitation training effect is improved; avoid the excessive or insufficient movement of the upper limbs of a certain movement track.
The invention provides an upper limb rehabilitation training method, which comprises the following steps:
the height of the support frame and the distance between the balance arm and the output shaft are adjusted according to the height of the patient, and the patient holds the holding device with two hands;
the two hands of the patient are kept parallel and the balance arm is ensured to be in a horizontal state;
the two hands lift and fall to realize the rotation of the rotating arm along the output shaft;
the myoelectric sensor senses electric signals of upper limb muscles in the process of movement of both hands, the controller reads the signals of the myoelectric sensor and judges the movement state of the muscles at the moment, and the force sensor measures the force application change of the upper limb muscles of a patient;
the invention also provides another upper limb rehabilitation training method, which comprises the following steps:
the height of the support frame and the distance between the balance arm and the output shaft are adjusted according to the height of the patient, and the patient holds the holding device with two hands;
the two hands lift and fall to realize the rotation of the rotating arm along the output shaft; during the rotation of the rotating arm; the two hands respectively control the balance arms to swing along the connecting shaft;
the myoelectric sensor senses electric signals of upper limb muscles in the process of movement of two hands, the force sensor measures the force application change of the upper limb muscles of a patient, and the controller reads signals of the myoelectric sensor, force application signals of the upper limb muscles and signals of the angular displacement sensor and judges the movement state of the muscles at the moment;
and establishing a corresponding relation between the angular displacement sensor signal and the myoelectric sensor signal and the upper limb muscle force application signal to guide the motion trail of the next rehabilitation training.
The invention has the beneficial effects that:
(1) by adopting the structure, the rehabilitation training can be carried out by a single arm or two arms, and the healthy side arm can play a role in driving the arm on the affected side to move.
(2) The invention can be used in the starting or power-off state of the servo motor, and after the servo motor is powered on and started, the rotation speed of the servo motor can be adjusted to be suitable for a patient to carry out rehabilitation training; under the power-off state of the servo motor, the patient can carry out rehabilitation training under a certain load state by means of the damping of the servo motor and the weight of the device.
(3) The invention can adjust the length of the bracket and the rotating arm, and meet the training requirements of patients with different heights and arm lengths.
(4) The balance arm, the rotating arm and the gripping device can respectively realize rotation or swing within a certain angle range in different vertical planes, and meet the requirements of different rehabilitation exercises of patients.
(5) The invention can perform active hand-eye coordination rehabilitation training, keep the joints flexible, improve the muscle state and establish a new neural pathway so as to recover the effective control of the brain on the limbs.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
Fig. 1 is a schematic view of the overall structure in the embodiment of the present invention.
Fig. 2 is a partial structural schematic diagram in the embodiment of the present invention.
FIG. 3 is a schematic diagram of a first use state in an embodiment of the present invention;
fig. 4 is a schematic diagram of a second usage state in the embodiment of the present invention.
Wherein, 1, a base; 2. a rod sleeve; 3. a bracket mounting hole; 4. a set screw; 5. adjusting a rod; 6. an adjusting rod hole; 7. a motor base; 8. a servo motor; 9. a first handle; 10. a right hand; 11. a left hand; 12. a second handle; 13. a balance arm; 14. a rotating arm; 15. fastening a bolt; 16. an angular displacement sensor; 17. a first force sensor; 18. a second force sensor; 19. a connecting shaft; 20. a bearing; 21. a coupling; 22. and adjusting the hole.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In order to solve the technical problems mentioned in the background art, the invention provides an upper limb rehabilitation training device which comprises a support, a servo motor, a balance arm, a gripping device, a measuring system and a control system, wherein an output shaft of the servo motor is horizontally arranged, and the support is used for supporting the servo motor.
An output shaft of the servo motor is fixedly connected with one end of a rotating arm, and the rotating arm can rotate in a vertical plane by taking the output shaft as a rotating center; one end of the balance arm is rotatably connected with the other end of the rotating arm through a connecting shaft, the balance arm can rotate in a plane vertical to the rotating arm by taking the connecting shaft as a rotating center, and the connecting shaft is perpendicular to the output shaft; the grabbing device is rotatably arranged on the upper end face of the balance arm and is used for realizing grabbing of two hands of a user; the measuring system comprises an angular displacement sensor and a myoelectric sensor, wherein the angular displacement sensor is coaxially arranged with the connecting shaft, and the myoelectric sensor is attached to the muscle of the upper limb of a user to collect myoelectric signals; the control system is used for receiving an angular displacement signal of the servo motor, a signal of the angular displacement sensor, a myoelectric signal measured by the myoelectric sensor and an upper limb muscle force application signal measured by the force sensor to obtain the corresponding relation between the myoelectric signal and the gripping force signal and the upper limb displacement of the user.
Example 1
As shown in fig. 1-4, an upper limb rehabilitation training device comprises a bracket, a servo motor 8 with an output shaft horizontally arranged, a balance arm 13, a gripping device, a measuring system and a control system. The above components are described in detail below with reference to the accompanying drawings, respectively:
the support is used for supporting the servo motor 8. The support can stretch and contract in the vertical direction and is fixed at a set height, and the servo motor 8 is fixedly installed at the top end of the support.
Specifically, in some embodiments, the support includes a rod sleeve 2 fixedly connected to the base 1, an adjusting rod 5 is disposed in the rod sleeve 2, a motor base 7 is fixedly connected to a top end of the adjusting rod 5, and the servo motor 8 is mounted on an upper surface of the motor base 7.
The rod sleeve 2 is internally provided with a row of support mounting holes 3 along the vertical direction, the adjusting rod 5 is internally provided with a row of adjusting rod holes 6 along the vertical direction, the support mounting holes 3 are internally provided with positioning screws 4, and after the adjusting rod 5 extends out of the rod sleeve 2 for a set length, any one group of adjusting rod holes 6 and the support mounting holes 3 which are aligned with each other are fixed by the positioning screws 4. The purpose of locking the rod sleeve 2 and the adjusting rod 5 can be achieved. The positioning screw 4 is only required to be a common screw; the adjusting rod hole 6 and the bracket mounting hole 3 are threaded holes.
Rotating arm 14 and balance arm 13: an output shaft of the servo motor 8 is fixedly connected with one end of a rotating arm 14, and the rotating arm 14 can rotate in a vertical plane by taking the output shaft as a rotating center;
the rotating arm 14 is provided with a plurality of adjusting holes 22 at one end close to the output shaft, and the output shaft can be arranged in different adjusting holes 22 to adjust the distance between the balance arm 13 and the output shaft.
Specifically, in some embodiments, an internal thread is provided in the adjusting hole 22, a threaded hole is provided at an end portion of the output shaft of the motor, a fastening bolt 15 is provided in the adjusting hole 22, and the fastening bolt 15 passes through the adjusting hole 22 and the threaded hole in sequence to fixedly connect the output shaft of the motor with the rotating arm 14.
One end of the balance arm 13 is rotatably connected with the other end of the rotating arm 14 through a connecting shaft 19, the balance arm 13 can rotate in the plane of the vertical rotating arm 14 by taking the connecting shaft 19 as a rotating center, and the connecting shaft 19 is vertically arranged with an output shaft;
and one end of the rotating arm 14, which is far away from the output shaft, is provided with a connecting shaft 19 through a bearing 20, one end of the connecting shaft 19 is fixedly connected with the balance arm 13, and the other end of the connecting shaft is fixedly connected with the angular displacement sensor through a coupler 21.
The output shaft of the servo motor 8 is vertical to the axis of the rotating arm 14, and the axis of the rotating arm 14 is vertical to the axis of the balance arm 13.
A gripping device: the gripping device is rotatably arranged on the upper end surface of the balance arm 13 and is used for realizing gripping of both hands of a user;
further, the gripping means comprises a first handle 9 and a second handle 12 mounted at both ends of a balance arm 13, and the distance between the first handle 9 and the second handle 12 is adjustable.
Specifically, in some embodiments, in order to adjust the distance between the first handle 9 and the second handle 12, a row of mounting holes may be formed on the balance arm 13, and the distance between the first handle 9 and the second handle 12 may be adjusted by mounting the first handle 9 and the second handle 12 in different mounting holes.
Further, force sensors are respectively arranged between the first handle 9 and the second handle 12 and the balance arm 13, and the force sensors are in signal connection with the controller. A first force sensor is arranged between the first handle 9 and the balance arm, and a second force sensor is arranged between the second handle 12 and the balance arm. The connecting part between the force sensor and the balance arm can rotate freely in 360 degrees.
The measurement system comprises: the measuring system comprises an angular displacement sensor which is coaxially arranged with the connecting shaft 19, a myoelectric sensor which is attached to the muscle of the upper limb of the user to collect myoelectric signals, and a force sensor which is arranged on the balance arm; the electromyographic sensor is in signal connection with the controller through a data line. The controller is in signal connection with the display device to output the corresponding relation between the upper limb displacement and the myoelectric signal. The force sensor is in signal connection with the controller. The controller is in signal connection with the display device to output the corresponding relation between the upper limb displacement and the force application signal of the upper limb muscle.
In particular, in some embodiments, the angular displacement sensor may employ an encoder.
The controller may be a microprocessor, such as a single chip microcomputer configuration.
The control system comprises: the control system is used for receiving an angular displacement signal of the servo motor 8, a signal of the angular displacement sensor, an upper limb muscle force application signal measured by the force sensor and a myoelectric signal measured by the myoelectric sensor, and obtaining a corresponding relation between the myoelectric signal, the upper limb muscle force application signal and the upper limb displacement of the user.
Example 2
In order to solve the problem that the existing rehabilitation training method is generally a passive training mode in the background technology and cannot perform active training so as to achieve the purpose of establishing a new neural pathway to restore the effective control of the brain on the limbs, the invention provides an upper limb rehabilitation training method, which focuses on the training mode under the condition of ensuring the balance and cooperation of the arms of the upper limb, and comprises the following steps:
the height of the support frame and the distance between the balance arm 13 and the output shaft are adjusted according to the height of the patient, and the patient holds the holding device with two hands;
the two hands of the patient are kept parallel and the balance arm 13 is ensured to be in a horizontal state;
the two hands lift and fall by force to realize the rotation of the rotating arm 14 along the output shaft; the first force sensor 17 and the second force sensor 18 transmit the stress condition to the controller;
the electromyographic sensor senses the electric signals of the muscles of the upper limbs in the process of movement of the two hands, and the controller reads the signals of the electromyographic sensor, the first force sensor 17 and the second force sensor 18 and judges the stress condition of the muscles at the moment.
In some embodiments, the left hand 11 grips the second handle and the right hand 10 grips the first handle to form the first use position, and in other embodiments, the left hand 11 grips the first handle and the right hand 10 grips the second handle to form the second use position.
Example 3
In order to solve the problem that the existing rehabilitation training method is generally a passive training mode and cannot perform active training to achieve the purpose of establishing a new neural pathway so as to recover the effective control of the brain on the limbs in the background technology, the invention provides an upper limb rehabilitation training method, which focuses on ensuring that the upper limbs move along a set direction simultaneously and simultaneously performs relative movement between the two arms of the upper limbs, and increases the movement range of the two arms of the upper limbs, and comprises the following steps:
the height of the support frame and the distance between the balance arm 13 and the output shaft are adjusted according to the height of the patient, and the patient holds the holding device with two hands;
lifting and dropping by both hands to realize the rotation of the rotating arm 14 along the output shaft; during rotation of the rotating arm 14; the two hands respectively control the balance arm 13 to swing along the connecting shaft 19; the first force sensor 17 and the second force sensor 18 transmit the force application condition of the upper limb muscle to the controller;
the electromyographic sensor senses an electric signal of upper limb muscles in the process of movement of the two hands, and the controller reads the electromyographic sensor, the first force sensor 17 and the second force sensor 18 to measure a force application signal of the upper limb muscles and judge the movement state of the muscles at the moment.
And establishing a corresponding relation among signals of the angular displacement sensor, the first force sensor 17 and the second force sensor 18 and signals of the electromyographic sensor so as to guide the motion trail of the next rehabilitation training.
Example 4
In order to solve the problem that the existing rehabilitation training method is generally a passive training mode and cannot perform active training to achieve the purpose of establishing a new neural pathway so as to recover the effective control of the brain on the limbs in the background technology, the invention provides an upper limb rehabilitation training method, which aims to provide resistance by utilizing the slow motion of a servo motor 8, so that a patient can perform upper limb rehabilitation training under the condition that the servo motor 8 simulates a load.
The height of the support frame and the distance between the balance arm 13 and the output shaft are adjusted according to the height of the patient, and the patient holds the holding device with two hands;
starting the servo motor 8 to enable the servo motor 8 to drive the rotating arm 14 to slowly rotate, wherein the rotating direction of the rotating arm 14 driven by the servo motor 8 is consistent with the rotating direction of the rotating arm 14 driven by the upper limb; the upper limb exerts pressure in the movement direction during movement so that the final rotation speed of the rotating arm 14 is greater than the original rotation speed of the servo motor 8.
During rotation of the rotating arm 14; the both hands of upper limbs are sent forth power respectively and are rotated in order to control the swinging boom, but the rotatory direction of servo motor drive swinging boom is unanimous with the rotatory direction of upper limbs both hands drive swinging boom, but because servo motor drive swinging boom pivoted speed is less than the speed that adopts upper limbs drive swinging boom alone, is equivalent to providing the resistance in the in-process of both hands drive swinging boom syntropy pivoted.
The first force sensor 17 and the second force sensor 18 transmit the stress condition to the controller;
the myoelectric sensor senses the electric signal of the upper limb muscle in the process of moving the hands, and the controller reads the signal of the myoelectric sensor, the signal of the angular displacement sensor and the force application condition of the upper limb muscle measured by the force sensor and judges the movement condition of the muscle at the moment;
and establishing a corresponding relation among signals of the angular displacement sensor, the first force sensor 17 and the second force sensor 18 and signals of the electromyographic sensor so as to guide the motion trail of the next rehabilitation training.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (8)
1. An upper limb rehabilitation training device is characterized by comprising,
the support is used for supporting the servo motor;
the output shaft of the servo motor is fixedly connected with one end of a rotating arm, and the rotating arm can rotate in a vertical plane by taking the output shaft as a rotating center;
one end of the balance arm is rotatably connected with the other end of the rotating arm through a connecting shaft, the balance arm can rotate in a vertical plane by taking the connecting shaft as a rotating center, and the connecting shaft is perpendicular to the output shaft;
the grabbing device is rotatably arranged on the upper end face of the balance arm, a force sensor is arranged between the grabbing device and the balance arm, and the grabbing device is used for realizing grabbing of two hands of a user;
the measuring system comprises an angular displacement sensor, a myoelectric sensor and a force sensor, wherein the angular displacement sensor is coaxially arranged with the connecting shaft, and the myoelectric sensor and the force sensor are attached to the muscle of the upper limb of a user to collect myoelectric signals;
and the control system is used for receiving an angular displacement signal of the servo motor, a signal of the angular displacement sensor, an upper limb muscle force application signal measured by the force sensor and a myoelectric signal measured by the myoelectric sensor to obtain a corresponding relation between the myoelectric signal and the upper limb muscle force application signal and the upper limb displacement of the user.
2. The upper limb rehabilitation training device of claim 1, wherein one end of the rotating arm far away from the output shaft is provided with a connecting shaft through a bearing, one end of the connecting shaft is fixedly connected with the balance arm, and the other end of the connecting shaft is fixedly connected with the angular displacement sensor.
3. The upper limb rehabilitation training device of claim 1, wherein the bracket can be stretched in the vertical direction and fixed at a set height, and the servo motor is fixedly mounted at the top end of the bracket.
4. The upper limb rehabilitation training device of claim 1, wherein the end of the rotating arm near the output shaft is provided with a plurality of adjusting holes, and the output shaft can be installed in different adjusting holes to adjust the distance between the balancing arm and the output shaft.
5. The upper limb rehabilitation training device of claim 1, wherein the gripping device comprises a first handle and a second handle mounted at both ends of the balancing arm, the distance between the first handle and the second handle being adjustable.
6. The upper limb rehabilitation training device of claim 5, wherein force sensors are respectively arranged between the first handle and the second handle and the balance arm, and the force sensors are in signal connection with the controller.
7. The upper limb rehabilitation training device of claim 1, wherein the output shaft of the servo motor is perpendicular to the axis of the rotating arm, and the axis of the rotating arm is perpendicular to the axis of the balance arm.
8. The upper limb rehabilitation training device of claim 3, wherein the myoelectric sensor is in signal connection with the controller through a data line;
the controller is in signal connection with the display device to output the corresponding relation between the upper limb displacement and the myoelectric signal.
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| 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 | A kind of upper limb rehabilitation training system and method for executing motion intention |
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