CN110801239A - Upper limb multi-joint constant speed training testing device - Google Patents
Upper limb multi-joint constant speed training testing device Download PDFInfo
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- CN110801239A CN110801239A CN201911140375.7A CN201911140375A CN110801239A CN 110801239 A CN110801239 A CN 110801239A CN 201911140375 A CN201911140375 A CN 201911140375A CN 110801239 A CN110801239 A CN 110801239A
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- 238000012360 testing method Methods 0.000 title claims abstract description 64
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 40
- 230000033001 locomotion Effects 0.000 claims abstract description 39
- 210000000323 shoulder joint Anatomy 0.000 claims description 25
- 238000000034 method Methods 0.000 claims description 17
- 210000000245 forearm Anatomy 0.000 claims description 15
- 210000003857 wrist joint Anatomy 0.000 claims description 14
- 210000002310 elbow joint Anatomy 0.000 claims description 12
- 230000003189 isokinetic effect Effects 0.000 claims description 9
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- 210000003205 muscle Anatomy 0.000 description 13
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- 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
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- 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
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- 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
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- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5064—Position sensors
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- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
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Abstract
The invention provides an upper limb multi-joint constant velocity training test device.A test training chair is provided with an upper limb test training mechanical arm, the upper limb test training mechanical arm comprises seven sections of connecting rods which are sequentially connected by six independently controlled motors, and a handle connected with a first connecting rod and the tail end of the chair. During training or testing, the control center calculates each driving parameter based on a rotation theory and combined with feedback information of the position sensor and the torque sensor, and outputs the driving parameters to drive six motors at six joints to rotate, so that constant-speed motion of a handle at the tail end of the multiple joints is realized, and each connecting rod is controlled to drive the arm of a tester to perform constant-speed training and testing. The upper limb multi-joint constant velocity training test device disclosed by the invention greatly simplifies the structure of the constant velocity training test device and improves the control efficiency.
Description
Technical Field
The invention relates to the field of medical rehabilitation and sports fitness, in particular to a testing device for multi-joint constant-speed training of upper limbs.
Background
The human body or animal body generates force by muscle contraction to drive bones connected with two ends of the muscle to rotate around joints among the bones. Muscle contraction, in general, can be divided into two basic movements: isotonic contraction (isotonicdrawing), i.e. the muscle output tension remains constant while the muscle length changes; and isometric contraction (isometriccoontraction), i.e., the muscle length remains constant while the muscle output tension varies. Of course, most muscle contractions are a combination of the two.
The medical rehabilitation and exercise body-building mainly aims to make muscles exercise. A new concept of test training for isokinetic movement is proposed: during the articulation, the resistance applied to the bone ends changes so that the speed of movement of the bone ends remains constant. The common method is as follows: the movement speed is set on the constant-speed device in advance, and in the test process, the resistance changes, so that the muscle force only increases the muscle strength and the moment output, but the angular speed of the tail end skeleton movement in the movement process is not changed, namely, the movement speed is kept constant, and the constant-speed muscle force is measured.
In isokinetic motion, the angular velocity at which the limb rotates about an axis of its joint remains constant, but the muscle fibers either shorten or stretch, and are thus also a dynamic contraction, except that the output power does not remain constant, i.e., an unequal contraction. Meanwhile, in the isokinetic training, in order to keep the angular velocity of the movement of the terminal skeleton constant, the isokinetic instrument provides a compliance resistance, namely the resistance varies with the muscle contraction tension, which also causes the muscle to contract in unequal lengths. That is, in the constant-speed exercise, the muscle contraction is a special muscle contraction mode because of some characteristics of both isometric contraction and isometric contraction.
The result of the isokinetic muscle strength test can be used for auxiliary diagnosis, rehabilitation treatment, curative effect evaluation and prevention of motor system injury caused by various reasons. At present, isokinetic muscle force tests are increasingly applied clinically to quantitatively evaluate the muscle dysfunction degree of patients with Knee Osteoarthritis (KOA) or dysfunction, stroke, Anterior Cruciate Ligament (ACL) reconstruction and the like, so that targeted rehabilitation targets and plans are formulated, and scientific bases are provided for systematic rehabilitation treatment.
The upper limb, i.e., the arm, of the human body is a multi-joint mechanism, and includes, in order from the proximal end to the distal end, a shoulder joint connecting the upper arm to the shoulder, an elbow joint connecting between the upper arm and the lower arm, and a wrist joint connecting between the lower arm and the hand. Wherein, the shoulder joint can do the rotary motion of three direction, includes: an inside-outside overturning motion (laterally lifting and putting down an upper arm), a flexion-extension motion (swinging the upper arm forwards and backwards) and an inside-outside rotating motion (horizontally twisting the upper arm); the elbow joint can make flexion and extension movements (raise and lower the forearm); the wrist joint can perform flexion and extension movements (turning the hand back and forth) and rotation movements (turning the hand up and down).
However, most constant-speed test training instrument products in the market are sealed by foreign technologies, the size is large, the weight is heavy, the selling price is high, the products can only carry out test training on different single joints, the test efficiency is low, and the effect is not good.
Therefore, the research and design of the novel device for testing and training the upper limb multi-joint constant velocity has profound practical significance.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention provides a device for testing multi-joint equal velocity training of upper limbs.
In order to achieve the above object, the present invention firstly provides an upper limb multi-joint constant velocity training test device, comprising an upper limb test training mechanical arm mounted on a test training seat, wherein the mechanical arm comprises seven segments of connecting rods connected in sequence by six motors, and the connecting rod comprises a first connecting rod connected with the seat and a handle at the tail end; the motors are individually controllable, including: a three shoulder motor for controlling rotation of the upper limb shoulders in three directions: a shoulder joint inside and outside overturning motor, a shoulder joint flexion and extension motor and a shoulder joint inside and outside rotating motor; an elbow joint flexion and extension motor for controlling the elbow to rotate up and down; a wrist joint flexion and extension motor for controlling the palm to turn up and down; and a forearm rotating motor for controlling the forearm to turn over in the axial direction; the three rotation axes of the three-shoulder motor intersect at the shoulder-socket point; the rotation axis of the shoulder joint internal and external rotating motor and the rotation axis of the elbow joint flexion and extension motor are intersected at the elbow joint center; the rotation axis of the wrist joint flexion and extension motor and the rotation axis of the forearm rotation motor are intersected at the center of the wrist joint; a turntable bearing for the arm of the tester to pass through is arranged between the shoulder point and the elbow joint center; each motor is provided with a position sensor and a torque sensor and is used for detecting the relative motion between two sections of connecting rods connected with the motors.
Preferably, each motor is connected to a respective connecting rod by a cross roller bearing.
Preferably, the elbow connecting rod is fixedly connected with an outer ring of the turntable bearing, and the shoulder joint inner and outer rotating motor drives the outer ring of the turntable bearing to rotate by using gear transmission.
Preferably, the rotor of each motor is connected with a connecting rod, and an angle limiting device is further arranged on the connecting rod and used for preventing the rotating angle between the two connecting rods from exceeding a set limit value.
Preferably, the palm of the tester holds the handle, and the forearm rotating motor drives the handle to rotate transversely.
Preferably, the seat includes seat and back of the chair, be equipped with the slide rail on the back of the chair, the first connecting rod detachably of arm install in on the slide rail, can follow the slide rail translation.
Preferably, the angle between the seat back and the seat surface is adjustable.
Preferably, the connecting rod is adjustable in length and comprises two parts which can be fixed after being relatively slid so as to adapt to the joint distance of the human body.
Preferably, the upper limb multi-joint constant velocity training test device further comprises a control center, wherein the control center calculates and outputs parameters to control rotation of each motor based on a rotation theory and combined with feedback of the position sensor and the torque sensor, so as to realize constant velocity motion of the handle.
More preferably, the control center controls each motor to realize the constant-speed motion through a PID control method.
In the invention, the use method of the upper limb multi-joint constant velocity training test device comprises the following steps:
a. a tester sits on the seat;
b. the arm of the tester penetrates into the inner ring of the turntable bearing;
c. the center of the shoulder joint of the tester is positioned at the shoulder socket point, the center of the elbow joint of the tester is positioned at the center of the elbow joint, and the center of the wrist joint of the tester is positioned at the center of the wrist joint;
d. the palm of the tester holds the handle;
e. and under the feedback of the position sensor and the torque sensor, the rotation of each motor is controlled based on a rotation theory, so that the constant-speed motion of the handle is realized.
Preferably, in the step e, the motors are controlled by a PID control method to realize the constant-speed motion.
Technical effects
The invention provides an upper limb multi-joint constant velocity training test device.A test training chair is provided with an upper limb test training mechanical arm, the upper limb test training mechanical arm comprises seven sections of connecting rods which are sequentially connected by six independently controlled motors, and a handle connected with a first connecting rod and the tail end of the chair. During training or testing, the control center calculates each driving parameter based on a rotation theory and combined with feedback information of the position sensor and the torque sensor, and outputs the driving parameters to drive six motors at six joints to rotate, so that constant-speed motion of a handle at the tail end of the multiple joints is realized, and each connecting rod is controlled to drive the arm of a tester to perform constant-speed training and testing. The upper limb multi-joint constant velocity training test device disclosed by the invention greatly simplifies the structure of the constant velocity training test device and improves the control efficiency.
The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.
Drawings
FIG. 1 is a schematic view of the overall structure of a device for testing the training of the multi-joint constant velocity of the upper limb according to a preferred embodiment of the present invention;
FIG. 2 is a schematic diagram of the overall structure of the upper limb test training robot according to the preferred embodiment of the present invention;
fig. 3 is a flow chart of a method for using the device for testing the training of the upper limb multi-joint isokinetic training according to a preferred embodiment of the invention.
In the figure, the chair comprises a chair back 1, a chair seat 2, a chair seat 3, a base 4, a shoulder joint internal and external overturning motor 5, a connecting rod 6, a connecting slide block 7, a shoulder joint flexion and extension motor 8, a shoulder joint internal and external rotating motor 9, a turntable bearing 10, an elbow joint flexion and extension motor 11, a transmission gear 12, a wrist joint flexion and extension motor 13, a handle 14, a forearm rotating motor 20 and a mechanical arm 20.
Detailed Description
The technical contents of the preferred embodiments of the present invention will be more clearly and easily understood by referring to the drawings attached to the specification. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.
In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.
The invention firstly provides a multi-joint constant-speed training test device for upper limbs, the overall structure of which is shown in figure 1, and the device comprises a chair for test training, a chair back 1 and a chair seat 2, and the chair back is fixedly or rotatably arranged on a base 3. The angle between the chair back 1 and the chair seat 2 can be adjusted according to the actual habits of testers, so that the comfort level of the testers is improved. The seat is provided with a robotic arm 20 for upper limb test training. During test training, a tester sits on the chair surface, inserts arms into the mechanical arm 20, and moves along with the movement of each section of connecting rod 5 in the mechanical arm 20.
Specifically, as shown in fig. 2, the robot arm 20 includes seven-segment links 5 sequentially connected by six motors, and is disposed on the seat through a first link. Each motor is connected to a corresponding connecting rod 5 through a crossed roller bearing, and the body and the rotor of each motor are respectively connected with different connecting rods 5, so that when the motors rotate, the two connecting rods 5 connected to the motors can be driven to rotate relatively.
In a better embodiment, in order to adapt to the distance between the joints of the arm of different testers, the length of each section of the connecting rod 5 can be adjusted, for example, each connecting rod 5 is divided into two parts which can slide relatively and then be fixed, and the length of each section of the arm of the testers is adjusted adaptively.
In a further preferred embodiment, the first link is connected, in particular slidably connected, to the backrest 1. The method specifically comprises the following steps: the chair back 1 is provided with a slide rail, the first connecting rod is detachably arranged on the slide rail through a connecting slide block 6 and can move horizontally along the slide rail, so that the position can be adjusted according to the actual needs of a tester, and the comfort level of the tester is increased. And, the said connecting rod 5 also includes the hand grip 13 located at the end, while testing and training, the tester's palm is held on the said hand grip 13, follow the said mechanical arm 20 and move.
As shown in fig. 2, the motor first includes a three-shoulder motor for controlling the rotation of the upper limb shoulder in three directions: the shoulder joint inward and outward turning motor 4, the shoulder joint flexion and extension motor 7 and the shoulder joint inward and outward rotating motor 8 are arranged on the two connecting rods 5 in a mutually orthogonal mode and are respectively used for controlling the upper arm to be lifted up and down along the lateral direction, swing the upper arm along the front and back direction and twist the upper arm along the horizontal direction. The shoulder joint inward and outward turning motor 4 and the shoulder joint flexion and extension motor 7 are preferably connected by an L-shaped connecting rod in consideration of certain thickness of the shoulder joint. And the three rotational axes of the three shoulder motor intersect at a shoulder point, O in FIG. 21And (4) point. When a tester sits on the chair surface 1, the connecting slide block 6 slides along the slide rail to adjust the distance between the mechanical arm 20 and the tester,so that the shoulder socket of the test person is located at O in FIG. 21And (4) point.
As shown in fig. 2, the motor further includes an elbow flexion and extension motor 10 for controlling the elbow to rotate up and down, a wrist flexion and extension motor 12 for controlling the palm to flip up and down, and a forearm rotation motor 14 for controlling the forearm to flip in the axial direction. Wherein, when being installed, the rotation axis of the shoulder joint internal and external rotating motor 8 and the rotation axis of the elbow joint flexion and extension motor 10 intersect at the elbow joint center, i.e. O in fig. 22Point, in use, the elbow joint of the tester is placed at O2And (4) point. And the rotation axis of the wrist joint flexion and extension motor 12 and the rotation axis of the forearm rotation motor 14 intersect at the wrist joint center, i.e. O in FIG. 23Point, when in use, the wrist joint of the tester is placed at O3And (4) point. And the palm of the tester holds the handle 13, and the forearm rotating motor 14 drives the handle 13 to rotate transversely to drive the palm and even the forearm to turn over along the axial direction.
At the shoulder point O, considering that the tester's arm needs to follow the robot arm 20 in synchronization with movement1Point, with the elbow joint center O2Between the points, a turntable bearing 9 through which the arm of the tester passes is provided. The upper limb of the tester passes through the inner ring of the turntable bearing 9 downwards and then bends forwards until the inner ring is sleeved on the upper arm, and the palm holds the handle 13. At this time, the shoulder socket of the subject was located at O1Point, the elbow joint is placed at O2The wrist joint is located at O3And (4) point.
The elbow connecting rod corresponding to the elbow of the tester is fixedly connected with the outer ring of the turntable bearing 9, in addition, the outer side of the outer ring is fixedly sleeved with a gear ring, and the rotor of the shoulder joint internal and external rotating motor 8 drives the outer ring to rotate through the transmission gear 11, so that the elbow connecting rod is driven to swing left and right.
In addition, considering the constant-speed motion, each motor is also provided with a position sensor and a torque sensor, so that the relative motion condition between the two connecting rods 5 connected to the two sides of the motor, including the amplitude and the speed of the relative motion, is detected in real time and fed back to a control center, and the driving command sent to each motor is adjusted in real time to realize the constant-speed motion.
In order to prevent the connecting rod 5 from rotating or twisting by an excessive angle to hurt the arm of the tester, in a preferred embodiment, an angle limiting device is further installed on the connecting rod 5 connected to the rotor of each motor for preventing the rotation angle between the two connecting rods 5 from exceeding a set limit value.
The relative movement between the connecting rods 5 of each stage is controlled by each motor. Specifically, the upper limb multi-joint constant velocity training test device further comprises a control center, wherein the control center calculates and outputs parameters to control rotation of each motor based on a rotation amount theory and combined with feedback of the position sensor and the torque sensor, so that constant velocity motion of the handle at the tail end is realized. The parameters include at least the rotational speed and the duration of rotation of each motor.
And, more preferably, the control center controls the motors to realize the constant velocity motion by a PID control method.
Specifically, the rotation parameters of each motor of the present invention, including the angular velocity and the duration, are calculated based on a method of the momentum theory (law). The method has the advantages of simplifying mechanism analysis, avoiding singularity and the like. The rotation is also called as spiral, and is represented by 6 scalar values, and forms a group of dual vectors which simultaneously represent the direction and position of the vector, and can simultaneously represent the angular velocity and linear velocity of the rigid body, or the force and moment in the rigid body mechanics. The method uses a momentum theory to analyze each joint mechanism of the mechanical arm 20, obtains a momentum coordinate transformation relation between each joint by determining related parameters and motion momentum coordinates of each joint in the mechanism and then through motion momentum coordinate transformation and an index product formula, obtains a speed relation between each joint by constructing a jacobian matrix based on an index product method, and finally realizes constant speed of momentum and constant speed of a tail end by controlling and changing each parameter, and finally realizes constant speed control of multiple joints.
As can be seen, the use method of the upper limb multi-joint isokinetic training test device disclosed by the invention, as shown in the flowchart of fig. 3, includes the following steps:
a. a tester sits on the seat;
b. the arm of the tester penetrates into the inner ring of the turntable bearing 9;
c. the center of the shoulder joint of the tester is positioned at the shoulder pit point O1The elbow joint center of the tester is positioned at the elbow joint center O2The wrist joint center of the tester is positioned at the wrist joint center O3；
d. The palm of the tester holds the handle 13;
e. and under the feedback of the position sensor and the torque sensor, the rotation of each motor is controlled based on a rotation theory, so that the constant-speed motion is realized.
Specifically, in the step e, each motor may be controlled by a control method such as PID (proportional-integral-derivative control), so as to realize the constant velocity motion. This is a common technique in the art and will not be described in detail here.
In summary, the invention provides a test device for upper limb multi-joint constant velocity training, wherein an upper limb test training mechanical arm 20 is arranged on a test training seat 1, the test training mechanical arm comprises seven sections of connecting rods 5 which are sequentially connected by six independently controlled motors, the connecting rods comprise a first connecting rod connected with the seat 1 and a handle 13 at the tail end, and when the test device is used, the arm of a tester penetrates through the inner ring of a turntable bearing 9 and holds the handle 13 forwards. During training or testing, the control center calculates each driving parameter based on a rotation theory and combined with feedback information of the position sensor and the torque sensor, and outputs the driving parameters to drive six motors at six joints to rotate, so that the constant-speed motion of the handle 13 at the tail end of the multiple joints is realized, and each connecting rod 5 is controlled to drive the arm of a tester to perform constant-speed training and testing. The upper limb multi-joint constant velocity training test device disclosed by the invention greatly simplifies the structure of the constant velocity training test device and improves the control efficiency.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. The upper limb multi-joint constant-speed training test device is characterized by comprising an upper limb test training mechanical arm arranged on a test training seat, wherein the mechanical arm comprises seven sections of connecting rods which are sequentially connected through six motors, and each connecting rod comprises a first connecting rod connected with the seat and a handle at the tail end;
the motors are individually controllable, including:
a three shoulder motor for controlling rotation of the upper limb shoulders in three directions: a shoulder joint inside and outside overturning motor, a shoulder joint flexion and extension motor and a shoulder joint inside and outside rotating motor;
an elbow joint flexion and extension motor for controlling the elbow to rotate up and down;
a wrist joint flexion and extension motor for controlling the palm to turn up and down; and
a forearm rotating motor for controlling the forearm to turn along the axial direction;
the three rotation axes of the three-shoulder motor intersect at the shoulder-socket point;
the rotation axis of the shoulder joint internal and external rotating motor and the rotation axis of the elbow joint flexion and extension motor are intersected at the elbow joint center;
the rotation axis of the wrist joint flexion and extension motor and the rotation axis of the forearm rotation motor are intersected at the center of the wrist joint;
a turntable bearing for the arm of the tester to pass through is arranged between the shoulder point and the elbow joint center;
each motor is provided with a position sensor and a torque sensor and is used for detecting the relative motion between two sections of connecting rods connected with the motors.
2. The device for testing the isokinetic training of the multijoint of the upper limb according to claim 1, wherein each motor is connected to a corresponding connecting rod through a crossed roller bearing.
3. The upper limb multi-joint constant velocity training test device of claim 1, wherein an elbow connecting rod is fixedly connected with the outer ring of the turntable bearing, and the shoulder joint internal and external rotating motor drives the outer ring of the turntable bearing to rotate by using gear transmission.
4. The device for testing the multi-joint constant velocity training of the upper limbs according to claim 1, wherein an angle limiting device is further installed on the connecting rod connected with the rotor of each motor for preventing the rotation angle between the two connecting rods from exceeding a set limit value.
5. The device for training and testing the multi-joint constant velocity of the upper limbs of the human body as claimed in claim 1, wherein the palm of the hand of the tester holds the handle, and the forearm rotating motor drives the handle to rotate transversely.
6. The device for testing the multi-joint constant velocity training of the upper limbs according to claim 1, wherein the seat comprises a seat surface and a seat back, a slide rail is arranged on the seat back, and the first connecting rod of the mechanical arm is detachably mounted on the slide rail and can move horizontally along the slide rail.
7. The device for training the upper limb at a constant velocity according to claim 6, wherein the angle between the chair back and the chair surface is adjustable.
8. The device for testing the training of the multi-joint constant velocity of the upper limbs of the human body as claimed in claim 1, wherein the connecting rod is adjustable in length and comprises two parts which can be fixed after being relatively slid so as to adapt to the joint distance of the human body.
9. The device for testing the training of the multi-joint constant velocity of the upper limb according to any one of the claims 1 to 8, further comprising a control center, wherein the control center calculates and outputs parameters to control the rotation of each motor based on the rotation theory and the feedback of the position sensor and the torque sensor, so as to realize the constant velocity motion of the handle.
10. The device for training and testing multi-joint of upper limbs and the constant velocity according to claim 9, wherein the control center controls each motor to realize the constant velocity motion by a PID control method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201911140375.7A CN110801239B (en) | 2019-11-20 | 2019-11-20 | Upper limb multi-joint constant speed training testing device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911140375.7A CN110801239B (en) | 2019-11-20 | 2019-11-20 | Upper limb multi-joint constant speed training testing device |
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| CN110801239A true CN110801239A (en) | 2020-02-18 |
| CN110801239B CN110801239B (en) | 2022-06-17 |
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| CN201911140375.7A Active CN110801239B (en) | 2019-11-20 | 2019-11-20 | Upper limb multi-joint constant speed training testing device |
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| CN113730178A (en) * | 2021-07-27 | 2021-12-03 | 深圳华鹊景医疗科技有限公司 | Upper limb constant-speed training rehabilitation robot system and robot control method |
| CN113908015A (en) * | 2021-11-02 | 2022-01-11 | 复旦大学 | Rehabilitation training device with upper limb single arm and seven degrees of freedom |
| CN113975101A (en) * | 2021-12-06 | 2022-01-28 | 常生 | Upper limb orthopedic rehabilitation training chair |
| CN114146364A (en) * | 2021-12-09 | 2022-03-08 | 山东泽普医疗科技有限公司 | Dynamic force feedback constant speed training device |
| CN115414658A (en) * | 2022-09-14 | 2022-12-02 | 深圳高性能医疗器械国家研究院有限公司 | Transmission structure and training device |
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| CN113730178A (en) * | 2021-07-27 | 2021-12-03 | 深圳华鹊景医疗科技有限公司 | Upper limb constant-speed training rehabilitation robot system and robot control method |
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| CN113975101B (en) * | 2021-12-06 | 2024-03-29 | 姜林凯 | Upper limb orthopedics rehabilitation training chair |
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| CN115414658A (en) * | 2022-09-14 | 2022-12-02 | 深圳高性能医疗器械国家研究院有限公司 | Transmission structure and training device |
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