CN112155943B - Mechanical device for rehabilitation training of wrist joint - Google Patents
Mechanical device for rehabilitation training of wrist joint Download PDFInfo
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- CN112155943B CN112155943B CN202011088086.XA CN202011088086A CN112155943B CN 112155943 B CN112155943 B CN 112155943B CN 202011088086 A CN202011088086 A CN 202011088086A CN 112155943 B CN112155943 B CN 112155943B
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- 238000012549 training Methods 0.000 title claims abstract description 54
- 210000003857 wrist joint Anatomy 0.000 title claims abstract description 45
- 210000003205 muscle Anatomy 0.000 claims abstract description 64
- 210000000707 wrist Anatomy 0.000 claims abstract description 11
- 210000000245 forearm Anatomy 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 7
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims 3
- 235000017491 Bambusa tulda Nutrition 0.000 claims 3
- 241001330002 Bambuseae Species 0.000 claims 3
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims 3
- 239000011425 bamboo Substances 0.000 claims 3
- 239000000203 mixture Substances 0.000 claims 3
- 210000003811 finger Anatomy 0.000 description 16
- 238000005516 engineering process Methods 0.000 description 6
- 238000011084 recovery Methods 0.000 description 4
- 210000001364 upper extremity Anatomy 0.000 description 4
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 230000003925 brain function Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 2
- 210000000653 nervous system Anatomy 0.000 description 2
- 238000007634 remodeling Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 1
- 210000000511 carpometacarpal joint Anatomy 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003584 silencer Effects 0.000 description 1
- 210000003813 thumb Anatomy 0.000 description 1
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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
- A61H1/0285—Hand
-
- 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
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0149—Seat or chair
-
- 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
- A61H2201/1238—Driving means with hydraulic or pneumatic 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
- A61H2201/16—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
-
- 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
- A61H2205/065—Hands
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a mechanical device for rehabilitation training of a wrist joint. When the palm is horizontally placed, the wrist is used for rehabilitation training, the palm is horizontally placed in the rehabilitation glove, the five fingers are placed in the corresponding finger sleeves, the same pneumatic artificial muscles are arranged on the two sides of the rehabilitation glove device, and the pneumatic artificial muscles are contracted through the qigong system, so that the pneumatic artificial muscles are sequentially stretched in the same way, and further the rehabilitation training when the palm is horizontally placed on the wrist joint can be completed; when the palm is placed vertically, the artificial muscles are stretched deeply, so that the swing amplitude of the rehabilitation glove is increased, the rehabilitation training of wrist joints in different scenes is met, then the combined rehabilitation is realized, and the problem of swing rehabilitation of the wrist joints in different directions is solved.
Description
Technical Field
The invention relates to the technical field of rehabilitation training machinery, in particular to a mechanical device for rehabilitation training aiming at a wrist joint.
Background
Wrist joints are one of the most complex joints of the human body, and their functional states directly affect the functions of hands, particularly the fine movements of hands, so that rehabilitation of upper limbs is receiving more and more attention. After the wrist joint is damaged, for the rehabilitation of the wrist joint, the traditional rehabilitation training method is that a rehabilitation therapist carries out one-to-one repeated continuous passive training on a patient, the training effect mainly depends on the experience capability of doctors, and the problems that the doctors with insufficient experience exist, the patient is not high in enthusiasm for rehabilitation when the patient carries out passive rehabilitation are solved. Along with the development of technology and the continuous perfection of mechanical technology, the use of upper limb rehabilitation machines to assist patients in upper limb rehabilitation has become a mainstream development trend. And the rehabilitation training machine for rehabilitation of the wrist joint is an emerging technology which is rapidly developed in recent years, and is a new application of the mechanical technology in the medical field.
Since the wrist joint is a complex joint composed of multiple joints, including the wrist, the inter-carpal, and the carpometacarpal, all three joints are interrelated (except for the carpometacarpal joint of the thumb), collectively referred to as the wrist. They are uniform in motion, with the wrist joints located deep in the carpal tunnel. The wrist joint is the main part for completing the functions of the upper limbs, and is easy to cause injury in daily life. The research on the rehabilitation of the wrist joint is the difficulty and the hot spot of the current research, the wrist joint auxiliary trainer in the prior art is mostly developed by special institutions, and is usually expensive, huge in size and heavy in instrument, and has high cost for patients and poor applicability, so that the popularization requirement cannot be met.
Disclosure of Invention
The purpose of the invention is that: the mechanical device for rehabilitation training of the wrist joint is provided, so that the defect of single mode of wrist joint training in the modern technology is overcome, the complex joint consisting of multiple joints can be better rehabilitated through rehabilitation training of the wrist joint, and the remodeling of the brain function and the nervous system of a patient is promoted, so that the complete rehabilitation of the wrist joint of the patient is finally realized.
The invention relates to a mechanical device for rehabilitation training aiming at wrist joints, which consists of a controller, a base 1, an adjustable seat 2, a support frame 3, a rehabilitation glove mechanism 4, a forearm support frame 5, a rope 6, a rope 7, pneumatic artificial muscles 8 and a pneumatic loop for controlling the pneumatic artificial muscles; the base 1 and the adjustable seat 2 are composed of a seat distance fastening bolt 2-1, a distance adjusting bolt 2-2, a seat height adjusting nut 2-3 and a seat height fastening nut 2-4; the support frame 3 consists of a rope ring 3-1, an artificial muscle mounting plate 3-2 and a support rod 3-3; the recovery glove mechanism 4 consists of a rope 4-1, a recovery glove movable tube 4-2, a connecting plate 4-3 and recovery gloves 4-4.
The mechanical device for rehabilitation training of the wrist joint comprises the rehabilitation glove arranged in the rehabilitation glove device mechanism, so that the five fingers can stretch into the corresponding finger sleeves when the palm is vertical, and the five fingers can stretch into the corresponding finger sleeves when the palm is horizontal, thereby ensuring the fixed positioning of the fingers during rehabilitation training of the wrist joint.
The technical scheme of the invention is as follows: the rehabilitation glove device is hung on a horizontal plane, pneumatic artificial muscles on two sides of the rehabilitation glove device are sequentially stretched, so that the rehabilitation glove device can do reciprocating rotary motion in a certain range on the horizontal plane, and the forearm is placed in the U-shaped groove of the supporting plate, so that the wrist joint can be positioned at the central position of the rehabilitation glove mechanism, and the five fingers are in the corresponding finger sleeves of the rehabilitation glove.
Further, when the artificial muscles on two sides stretch and shrink, the operation is orderly and regularly performed, and then the swing of the rehabilitation glove mechanism is realized, and the control of the electric pressure proportional valve is controlled through the controller, and then the adjustment of the stretching degree of the pneumatic artificial muscles is realized when the palm is horizontally and vertically placed, and the adjustment of the swing amplitude of the rehabilitation glove mechanism is realized when the palm is horizontally or vertically placed during rehabilitation training. No matter when the palm is placed horizontally or vertically, the five fingers can be placed in the corresponding fingerstall, during rehabilitation training, the forearm is placed in the U-shaped groove of the forearm support frame all the time, the five fingers extend into the rehabilitation glove mechanism, and the rehabilitation glove is a special glove which is staggered horizontally and vertically so as to meet the training of different scenes, soft rubber or sponge is used between the rehabilitation glove and the movable tube of the rehabilitation glove, and the safety and the comfort degree during training are ensured.
Further, since traction of the rope may cause secondary injury to the wrist joint, a safety protection device is required. Because the pneumatic artificial muscle has the advantages of large power/mass ratio, similar to human muscle in force and length characteristics, and the like, the pneumatic artificial muscle is equivalent to a pneumatic spring, and has outstanding flexibility. Therefore, based on the above characteristics of the pneumatic artificial muscle, the pneumatic artificial muscle is used as a safety protection device by utilizing the advantages of buffering, flexibility and controllability of the pneumatic artificial muscle, so that secondary injury to the wrist joint caused by rehabilitation machinery is prevented.
Compared with the prior art, the invention has the following technical results: the invention can lead the wrist joint of the patient to be subjected to a composite rehabilitation form combining a horizontal plane and a vertical plane, avoids the singleness of the wrist joint rehabilitation training mode, enriches the rehabilitation training modes of the patient, improves the enthusiasm of the patient for rehabilitation, provides a new comprehensive rehabilitation means for the complex wrist joint, has more realism for realizing the wrist joint rehabilitation, gives greater confidence to the rehabilitation of the patient, has higher applicability and effectively improves the utilization efficiency of rehabilitation training machinery.
Drawings
FIG. 1 is a schematic view of the overall structure of a mechanical device for rehabilitation training for the wrist joint according to the present invention;
FIG. 2 is a schematic view of the whole structure of the base and the seat according to the present invention;
FIG. 3 is a schematic view of the whole structure of the support frame according to the present invention;
FIG. 4 is a schematic view of a rehabilitation glove mechanism according to the present invention;
figure 5 is a three view of a rehabilitation glove of the present invention.
Wherein:
in fig. 1: 1. the adjustable seat comprises a base, an adjustable seat, a small arm support frame, a rope, a support frame, a rehabilitation glove mechanism, a rope, a pneumatic artificial muscle, a gas pipe, a two-position three-way electromagnetic reversing valve, an electric pressure proportional valve, a pneumatic triple piece, an air compressor, a pneumatic flow control valve and a muffler, wherein the lower arm support frame is arranged in the base, the adjustable seat is arranged in the base, the small arm support frame is arranged in the base, the rope is arranged in the base, the support frame is arranged in the base, the recovery glove mechanism is arranged in the base, the rope is arranged in the base, the rope is arranged in the support frame, the rope is arranged in the recovered glove mechanism, the pneumatic artificial muscle is arranged in the rope, the pneumatic artificial muscle, the gas pipe is arranged in the base, the two-position three-way electromagnetic reversing valve is arranged in the;
in fig. 2: 2-1, a seat distance fastening bolt, 2-2, a seat distance adjusting bolt, 2-3, a seat height adjusting nut and 2-4, a seat height fastening nut;
in fig. 3: 3-1, a rope ring, 3-2, an artificial muscle mounting plate and 3-3, a support rod;
in fig. 4: 4-1 parts of ropes, 4-2 parts of movable drums of rehabilitation gloves and 4-3 parts of connecting plates;
in fig. 5: 4-4, rehabilitation gloves and three views thereof.
Detailed Description
The invention aims to provide a mechanical device for rehabilitation training of a wrist joint, which aims to solve the defect of single wrist joint training mode in the modern technology, and can enable the complex joint of the wrist joint to be better rehabilitated through rehabilitation training of the wrist joint, promote the remodeling of brain functions and nervous systems of a patient, thereby finally realizing the rehabilitation of the wrist joint of the patient.
In order that the manner in which the above recited objects, features and advantages of the present invention are obtained will become more readily apparent, a more particular description of the invention briefly described above will be rendered by reference to the appended drawings.
The invention provides a mechanical device for rehabilitation training aiming at wrist joints, which comprises the steps that when artificial muscles 8 on two sides of a rehabilitation glove mechanism 4 stretch and shrink, the mechanical device is orderly and regularly carried out, so that the swinging of the rehabilitation glove mechanism 4 is realized, and the electric pressure proportional valve 11 and the pneumatic flow control valve 14 can be controlled by a controller, so that the adjustment of the stretching degree of the pneumatic artificial muscles 8 when the palm is horizontally and vertically placed, namely the adjustment of the swinging angle of the rehabilitation glove mechanism 4, and the adjustment of the swinging amplitude of the rehabilitation glove mechanism 4 when the palm is horizontally or vertically placed is met during rehabilitation training.
As shown in FIG. 2, the seat 2 is directly connected with the base 1, the front-back distance between the seat and the forearm support frame 5 can be adjusted through the distance adjusting bolt 2-2 on the base 1, the seat is fixed through the distance fastening bolt 2-1 and cannot slide back and forth in the rehabilitation training process, the height of the seat can be adjusted through the height adjusting nut 2-3, so that the better matching of the forearm and the forearm support frame 5 is facilitated, the seat cannot slide down in the rehabilitation training process due to the fastening nut 2-4, and a patient can perform rehabilitation training in a natural relaxed state.
As shown in fig. 5, no matter the palm is placed horizontally or vertically, the five fingers can be placed in the corresponding finger sleeves, during rehabilitation training, the lower arms are always placed in the U-shaped grooves of the lower arm support frame 5, the five fingers extend into the rehabilitation glove mechanism 4, the rehabilitation glove 4-4 is a special glove which is staggered horizontally and vertically so as to meet the training of different scenes, soft rubber or sponge is used between the rehabilitation glove 4-4 and the rehabilitation glove movable cylinder 4-2, and safety and comfort during training are ensured.
For a mechanical device for rehabilitation training for the wrist joint, the motion process is as follows:
(1) Wrist rehabilitation training when palm is horizontally placed
The palm is horizontally placed in the rehabilitation glove, the five fingers are placed in the corresponding finger cuffs, the same pneumatic artificial muscles are installed on two sides of the rehabilitation glove device and sequentially stretch, the pneumatic artificial muscles 8 are connected to the end part of a rope 7 on one side of the device, when an electromagnet of the reversing valve 10 is electrified, compressed gas enters an air inlet of the pneumatic artificial muscles 8 through an air pipe 9 to provide internal pressure for the pneumatic artificial muscles 8 so as to generate stretching force, the internal pressure of the pneumatic artificial muscles 8 is controlled by an electric pressure proportional valve 11 so as to control the stretching force, when the reversing valve 10 is replaced, compressed air in the pneumatic artificial muscles 8 flows into the atmosphere through an air outlet of the reversing valve 10 through the air pipe 9 to generate stretching force, and the internal pressure of the pneumatic artificial muscles 8 is controlled by the same connection of a pneumatic flow control valve 14 at the air outlet of the reversing valve 10;
(2) Wrist rehabilitation training when palm is placed vertically
The palm is placed in the rehabilitation glove perpendicularly to the ground, the five fingers are placed in the corresponding finger cuffs, the same pneumatic artificial muscle is installed on two sides of the rehabilitation glove device and sequentially stretched, the pneumatic artificial muscle 8 is connected to the end part of the rope 7 on one side of the device, when the electromagnet of the reversing valve 10 is electrified, compressed gas enters the air inlet of the pneumatic artificial muscle 8 through the air pipe 9, so that internal pressure is provided for the pneumatic artificial muscle 8, stretching force is generated, the internal pressure of the pneumatic artificial muscle 8 is controlled by the electric pressure proportional valve 11, so that stretching force can be controlled, when the reversing valve 10 is replaced again, compressed air in the pneumatic artificial muscle 8 flows into the atmosphere through the air outlet of the reversing valve 10 through the air pipe 9, stretching force is generated, the pneumatic artificial muscle 8 is controlled by the pneumatic flow control valve 14 at the air outlet of the reversing valve 10, so that stretching force can be controlled, and the silencer 15 is connected to the air outlet of the pneumatic flow control valve 14, so that the palm can be completely trained by sequentially stretching the pneumatic artificial muscle 8 and the artificial muscle on the other side by the same distance, when the reversing valve 10 is replaced, the wrist joint is vertically swung, and the wrist is completely swung vertically by the wrist joint is completely, and the wrist is completely swung, and the wrist is completely well controlled;
the principles and embodiments of the present invention have been described in this specification with reference to specific examples, which are provided to assist in understanding the methods of the present invention and their core ideas; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (2)
1. The mechanical device for rehabilitation training aiming at the wrist joint consists of a controller, a base (1), an adjustable seat (2), a support frame (3), a rehabilitation glove mechanism (4), a forearm support frame (5), a rope I (6), a rope II (7), pneumatic artificial muscles (8) and a pneumatic loop controlled by the pneumatic artificial muscles; the base (1) and the adjustable seat (2) are composed of a seat distance fastening bolt (2-1), a distance adjusting bolt (2-2), a seat height adjusting nut (2-3) and a seat height fastening nut (2-4); the support frame (3) consists of a rope ring (3-1), an artificial muscle mounting plate (3-2) and a support rod (3-3); the rehabilitation glove mechanism (4) consists of a rope III (4-1), a rehabilitation glove movable cylinder (4-2), a connecting plate (4-3) and a rehabilitation glove (4-4);
the lower extreme of seat (2) links to each other with base (1) one end top through altitude mixture control nut (2-3) and fastening nut (2-4), altitude mixture control nut (2-3) realizes the altitude mixture control of seat (2), fastening nut (2-4) can ensure that the seat can not the landing in rehabilitation training process, forearm support frame (5) and support frame (3) link to each other with base (1) other top, base (1) can slide back and forth, distance adjusting bolt (2-2) through on base (1), adjustable seat and forearm support frame (5) are apart from each other, distance fastening bolt (2-1) through on base (1) fixed seat can not back and forth slide in rehabilitation training process, support frame (3) top sets up rope loop (3-1), recovered glove mechanism (4) of rope loop (3-1) below is connected on rope loop (3-1) through rope I (6), be provided with artificial muscle mounting panel (3-2) on bracing piece (3-3) of both sides of support frame (3), through the inside section of thick bamboo (4) is provided with in proper order in a pair of gloves (4-4), the inside section of thick bamboo (4) of thick bamboo (4-4) is moved in proper order (4-4) is moved about in a glove (4) to be moved about, the ropes II (7) and the pneumatic artificial muscles (8) are connected with the corresponding artificial muscle mounting plates (3-2);
the five fingers can be placed in the corresponding finger sleeves no matter the palm is placed horizontally or vertically, the small arms are always placed in the U-shaped grooves of the small arm support frame (5) during rehabilitation training, the five fingers extend into the rehabilitation glove mechanism (4), the rehabilitation glove (4-4) is a special glove which is staggered horizontally and vertically so as to meet the training of different scenes, and soft rubber or sponge is filled between the rehabilitation glove (4-4) and the rehabilitation glove movable cylinder (4-2);
the mechanical device for rehabilitation training of the wrist joint is characterized in that:
(1) Wrist rehabilitation training when palm is horizontally placed
The palm is horizontally placed in the rehabilitation glove, the five fingers are placed in the corresponding finger sleeves, the same pneumatic artificial muscles are installed on two sides of the rehabilitation glove device and sequentially stretch, the pneumatic artificial muscles (8) are connected to the end part of a rope II (7) on one side of the device, when an electromagnet of the reversing valve (10) is electrified, compressed air enters an air inlet pipe (9) of the pneumatic artificial muscles (8) so as to provide internal pressure for the pneumatic artificial muscles (8) to generate stretching force, the electric pressure proportional valve (11) is used for controlling the internal pressure of the pneumatic artificial muscles (8) so as to control the stretching force, when the reversing valve (10) is reversed, compressed air in the pneumatic artificial muscles (8) flows into the atmosphere through an air outlet of the reversing valve (10) to generate stretching force, the pneumatic flow control valve (11) is also connected to the air outlet of the reversing valve (10) so as to control the internal pressure of the pneumatic artificial muscles (8), the stretching force can be controlled, the air outlet of the pneumatic flow control valve (14) is connected to the air outlet of the pneumatic flow control valve (15) so as to control the internal pressure of the pneumatic artificial muscles (8), the stretching force can be controlled through the air outlet of the reversing valve (10) and the pneumatic artificial muscles (8) which are combined with the artificial muscles (8) in sequence through the opposite directions, further, rehabilitation training when the wrist joint is horizontally placed by the palm can be completed;
(2) Wrist rehabilitation training when palm is placed vertically
The palm is placed in the rehabilitation glove perpendicular to the ground, the five fingers are placed in the corresponding finger sleeves, the same pneumatic artificial muscles are installed on two sides of the rehabilitation glove device and sequentially stretch, the pneumatic artificial muscles (8) are connected to the end part of a rope II (7) on one side of the glove device, when an electromagnet of a reversing valve (10) is electrified, compressed air enters an air inlet of the pneumatic artificial muscles (8) through an air inlet pipe (9) so as to provide internal pressure for the pneumatic artificial muscles (8) to generate stretching force, the internal pressure of the pneumatic artificial muscles (8) is controlled by an electric pressure proportional valve (11) so as to control the stretching force, after the reversing valve (10) is reversed, compressed air in the pneumatic artificial muscles (8) flows into the atmosphere through an air outlet of the reversing valve (10) to generate stretching force, and the air outlet of the reversing valve (10) is also connected with a pneumatic flow control valve (11) so as to control the internal pressure of the pneumatic artificial muscles (8), the stretching force can be controlled, and the stretching force can be controlled through the pneumatic artificial muscles (8) at the air outlet of the reversing valve (11) through the air outlet of the reversing valve (10) by the air outlet of the reversing valve (15) to realize the same amplitude, and the manual stretching force can be controlled by the same artificial gloves (4) in sequence through the swing mechanism with the swing of the same amplitude, further, rehabilitation training when the palm is vertically placed on the wrist joint can be completed;
the device controls the motion of the swing pneumatic artificial muscles (8) at two sides through the controller, and can perform horizontal rehabilitation training and vertical rehabilitation training on the wrist joint of a patient.
2. The mechanical device for rehabilitation training for the wrist according to claim 1, characterized in that: the utility model discloses a use both sides artificial muscle (8) regularly stretch shrink in proper order, and then realize the swing of recovered glove mechanism (4), and can be to the control of electric pressure proportional valve (11) and pneumatic flow control valve (14) through the controller, and then realize, when palm level and perpendicular place, the regulation of the swing angle of recovered glove mechanism (4), when satisfying rehabilitation training, palm level or when perpendicular place, the regulation of recovered glove mechanism (4) swing range size.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011088086.XA CN112155943B (en) | 2020-10-13 | 2020-10-13 | Mechanical device for rehabilitation training of wrist joint |
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| CN202011088086.XA CN112155943B (en) | 2020-10-13 | 2020-10-13 | Mechanical device for rehabilitation training of wrist joint |
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| CN112155943B true CN112155943B (en) | 2023-05-16 |
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| CN201164564Y (en) * | 2007-12-10 | 2008-12-17 | 华中科技大学 | Wearing type robot for rehabilitation of hand function and control system thereof |
| CN105147493B (en) * | 2015-06-24 | 2017-03-29 | 合肥工业大学 | Platform and training method are automatically adjusted for the lower limb in waist rehabilitation training |
| CN105434144B (en) * | 2015-12-30 | 2017-07-28 | 哈尔滨工业大学 | Preceding brachiostrophosis and wrist flex convalescence device and its torsion, bending method |
| CN110974600A (en) * | 2019-11-25 | 2020-04-10 | 郑州轻工业大学 | Wearable cerebral apoplexy rehabilitation device based on flexible touch |
| CN110897830B (en) * | 2019-12-13 | 2020-11-17 | 武汉理工大学 | Pneumatic muscle driven modular exoskeleton elbow and wrist rehabilitation robot |
| CN111631920B (en) * | 2020-07-10 | 2023-08-18 | 河南理工大学 | Traction type finger rehabilitation training device utilizing pneumatic artificial muscles and control method |
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