CN112155947A - Wrist joint training robot - Google Patents
Wrist joint training robot Download PDFInfo
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- CN112155947A CN112155947A CN202011117910.XA CN202011117910A CN112155947A CN 112155947 A CN112155947 A CN 112155947A CN 202011117910 A CN202011117910 A CN 202011117910A CN 112155947 A CN112155947 A CN 112155947A
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- training
- rotating seat
- assembly
- swing arm
- wrist
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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
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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
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1118—Determining activity level
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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
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1121—Determining geometric values, e.g. centre of rotation or angular range of movement
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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
- A61B5/48—Other medical applications
- A61B5/4848—Monitoring or testing the effects of treatment, e.g. of medication
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6813—Specially adapted to be attached to a specific body part
- A61B5/6824—Arm or wrist
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—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
-
- 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
- A61H2230/00—Measuring physical parameters of the user
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Physics & Mathematics (AREA)
- Biomedical Technology (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- Pathology (AREA)
- Biophysics (AREA)
- Dentistry (AREA)
- Physiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Geometry (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention provides a wrist joint training robot, comprising: the device comprises a frame, and an arm support, a palm flexion and back extension training component and a ulnar deviation and radial deviation training component which are sequentially arranged on the frame; the palm flexion and back extension training assembly comprises a rotating seat, a first power assembly and a first angle sensor, the rotating seat is arranged on the rack, the first power assembly drives the rotating seat to rotate, and when the palm flexion and back extension training assembly is used by a patient, the rotating axis of the rotating seat penetrates through the wrist joint of the patient; the ulnar deviation and radial deviation training assembly comprises a swing arm, a handle, a second power assembly and a second angle sensor, the swing arm is rotatably connected with the rotating seat, the rotation axis of the swing arm is perpendicular to the rotation axis of the rotating seat, the handle is arranged on the swing arm, and the second power assembly drives the swing arm to rotate. The wrist joint training robot can detect the motion data of the wrist part of the patient, obtain the maximum rotation angle of the wrist joint and help to monitor the rehabilitation condition of the patient.
Description
Technical Field
The invention relates to the technical field of rehabilitation training, in particular to a wrist joint training robot.
Background
The joints of the human body move most flexibly, one of the joints which are used most frequently is the wrist joint, so that the injuries of ligaments, muscles, joint capsules and other soft tissues around the joints are easily caused by accidental or indirect violence and excessive traction, and the functional disorders of the upper limbs and the wrist joint can be caused by diseases.
The existing wrist rehabilitation instrument lacks the detection of patient training motion data, and can not accurately master the state change of wrist joint training in the training process of a patient so as to optimize the training effect.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a wrist joint training robot.
One embodiment of the present invention provides a wrist training robot comprising: the device comprises a frame, and an arm support, a palm flexion and back extension training component and a ulnar deviation and radial deviation training component which are sequentially arranged on the frame;
the palm flexion and back extension training assembly comprises a rotating seat, a first power assembly and a first angle sensor, the rotating seat is arranged on the rack, the first power assembly drives the rotating seat to rotate, the first angle sensor is connected with the first power assembly, and when the palm flexion and back extension training assembly is used by a patient, the rotation axis of the rotating seat penetrates through the wrist joint of the patient;
the ulnar deviation and radial deviation training assembly comprises a swing arm, a handle, a second power assembly and a second angle sensor, the swing arm is rotatably connected with the rotating seat, the rotation axis of the swing arm is perpendicular to the rotation axis of the rotating seat, the handle is arranged on the swing arm, the swing arm is driven by the second power assembly to rotate, and the second angle sensor is connected with the second power assembly.
Compared with the prior art, the wrist joint training robot can detect the motion data of the wrist part of the patient, obtain the maximum rotation angle of the wrist joint, and is beneficial to monitoring the rehabilitation condition of the patient and customizing a rehabilitation training plan.
Furthermore, be provided with first guide on the frame, first guide towards the seat extension rotates, the arm holds in the palm the activity and sets up on the first guide. Is convenient to adapt to the support of arms with different lengths.
Furthermore, a second guide piece is arranged on the swing arm, the second guide piece extends towards the rotating seat, and the handle is movably arranged on the second guide piece. Because the rotation axis of the rotating seat passes through the wrist joint, the hand-operated wrist joint is convenient to adapt to hands with different sizes.
Further, a base and a balance block are arranged on the rotating seat, and the base and the balance block are symmetrical relative to the rotating axis of the rotating seat;
the swing arm with the base rotates to be connected, the second power component sets up on the base. The setting of seat balance and the swing arm of being convenient for rotate is optimized the structure.
Further, the arm support and the rotating seat are arranged along an axis, and the handle is located on one side of the axis. When the arm is naturally placed, the part surrounded by the palm and the fingers is deviated at one side of the axis of the arm, so that the handle is arranged at one side of the axis and can adapt to the hand of a human body to tightly hold the handle.
Further, the ulnar deviation and radial deviation training assembly further comprises a support plate disposed on the swing arm extending toward the axis. The structure is convenient for supporting the grip and fixing the position of the grip.
Further, the handle is rotatably connected with the support plate. This design is convenient for the hand to rotate the handle.
Further, the handle is obliquely arranged in a direction away from the arm support. The design accommodates the angle at which the hand is naturally held.
Further, the wrist joint training robot further comprises a forearm rotation training assembly, and the arm support, the forearm rotation training assembly, the palmar flexion and dorsal extension training assembly and the ulnar deviation and radial deviation training assembly are sequentially arranged on the rack;
the forearm rotation training subassembly includes supporting seat and bandage, the supporting seat with the frame rotates to be connected, the bandage sets up on the arm support for fixed patient's forearm. This design allows training of forearm rotation.
Further, the forearm rotation training subassembly still includes third power component, third power component sets up in the frame, the drive the supporting seat rotates. The power component drives the supporting seat to rotate, so that the patient can carry out passive training.
In order that the invention may be more clearly understood, specific embodiments thereof will be described hereinafter with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic structural diagram of a wrist training robot according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the structure of the dorsiflexion training assembly, the ulnar deviation and radial deviation training assembly and the forearm rotation training assembly shown in FIG. 1;
fig. 3 is a schematic structural view of one side of the wrist training robot shown in fig. 1.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Please refer to fig. 1, which is a schematic structural diagram of a wrist training robot according to an embodiment of the present invention, the wrist training robot includes: a frame 10, and an arm support 20, a palm flexion and back extension training component 30 and an ulnar deviation and radius deviation training component 40 which are arranged on the frame 10 in sequence.
Please refer to fig. 2, which is a schematic structural diagram of the dorsiflexion training assembly, the ulnar deviation and radial deviation training assembly and the forearm rotation training assembly shown in fig. 1, wherein the dorsiflexion training assembly 30 includes a rotating base 31, a first power assembly 32 and a first angle sensor 33, the rotating base 31 is disposed on the frame 10, the first power assembly 32 drives the rotating base 31 to rotate, the first angle sensor 33 is connected to the first power assembly 32, and when the patient uses the training assembly, the rotation axis of the rotating base 31 passes through the wrist joint of the patient; the ulnar deviation and radial deviation training assembly 40 comprises a swing arm 41, a handle 42, a second power assembly 43 and a second angle sensor 44, wherein the swing arm 41 is rotatably connected with the rotating seat 31, the handle 42 is arranged on the swing arm 41, the second power assembly 43 drives the swing arm 41 to rotate, and the second angle sensor 44 is connected with the second power assembly 43; the rotation axis of the rotating base 31 is perpendicular to the rotation axis of the swing arm 41. The angle sensor can detect the rotation angle of the bowl joint of the patient, acquire the maximum angle at which the wrist joint of the patient can rotate, and perform passive training within the maximum angle range on the patient. It should be noted that the first power assembly 32 and the second power assembly 43 can be selected according to actual needs, such as a speed reduction motor.
In some alternative embodiments, the frame 10 is provided with a first guide 11, the first guide 11 extends toward the rotating seat 31, and the arm support 20 is movably disposed on the first guide 11. The first guide 11 may be designed appropriately according to actual needs, for example, the first guide 11 may be a guide rail, a guide groove, a guide rod, or the like, and the arm rest 20 may be provided with a slider or the like that matches the first guide 11.
In some alternative embodiments, a second guiding element 411 is disposed on the swing arm 41, the second guiding element 411 extends toward the rotating seat 31, and the handle 42 is movably disposed on the second guiding element 411. The first guide 11 may be designed as needed, for example, the second guide 411 may be a guide rail, a guide groove, a guide rod, or the like, and the grip 42 may be provided with a slider or the like that matches the second guide 411.
In some alternative embodiments, a base 311 and a counterweight 312 are disposed on the rotating seat 31, and the base 311 and the counterweight 312 are symmetrical with respect to the rotation axis of the rotating seat 31; the swing arm 41 is rotatably connected with the base 311, and the second power assembly 43 is disposed on the base 311. The base 311 facilitates the support of the swing arm 41 for rotation.
Referring to fig. 3, which is a schematic structural view of one side of the wrist training robot shown in fig. 1, in some alternative embodiments, the arm support 20 and the rotating base 31 are arranged along an axis, the grip 42 is located at one side of the axis, and preferably, the rotation axis of the swing arm 41 is perpendicular to the axis.
In some alternative embodiments, the ulnar deviation radius training assembly 40 further comprises a support plate 45, the support plate 45 being disposed on the swing arm 41, which extends toward the axis.
In some alternative embodiments, the handle 42 is pivotally connected to the support plate 45 to reduce friction between the hand and the handle 42 when the hand holds the handle 42 and moves.
In some alternative embodiments, the grip 42 is inclined in a direction away from the arm rest 20, and the grip 42 is generally vertically arranged, but due to the difference in the hand structure and the length of the fingers, the grip 42 is inclined toward the front of the human body to facilitate holding and to adapt to the structure of the human body.
In some alternative embodiments, the wrist training robot further comprises a forearm rotation training assembly 50, and the arm rest 20, the forearm rotation training assembly 50, the palmar flexion-dorsal extension training assembly 30 and the ulnar deviation-radial deviation training assembly 40 are sequentially disposed on the frame 10; the forearm rotation training assembly 50 comprises a support base 51 and a strap 52, wherein the support base 51 is rotatably connected with the frame 10 to rotate the forearm of the patient by friction, and the strap 52 is arranged on the arm support 20 and used for fixing the forearm of the patient. Preferably, the support seat 51 is provided with a U-shaped groove 511 for placing the forearm of the patient, and the strap is disposed at the U-shaped groove 511.
In some optional embodiments, the forearm rotation training assembly 50 further includes a third power assembly 53, and the third power assembly 53 is disposed on the frame 10 and drives the support base 51 to rotate, so as to realize passive training of the patient. It should be noted that the third power assembly 53 may be selected according to actual needs, such as a speed reduction motor.
Compared with the prior art, the wrist joint training robot can detect the motion data of the wrist part of the patient, obtain the maximum rotation angle of the wrist joint, and is beneficial to knowing the rehabilitation condition of the patient and customizing a rehabilitation training plan.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A wrist training robot, comprising: the device comprises a frame, and an arm support, a palm flexion and back extension training component and a ulnar deviation and radial deviation training component which are sequentially arranged on the frame;
the palm flexion and back extension training assembly comprises a rotating seat, a first power assembly and a first angle sensor, the rotating seat is arranged on the rack, the first power assembly drives the rotating seat to rotate, the first angle sensor is connected with the first power assembly, and when the palm flexion and back extension training assembly is used by a patient, the rotation axis of the rotating seat penetrates through the wrist joint of the patient;
the ulnar deviation and radial deviation training assembly comprises a swing arm, a handle, a second power assembly and a second angle sensor, the swing arm is rotatably connected with the rotating seat, the rotation axis of the swing arm is perpendicular to the rotation axis of the rotating seat, the handle is arranged on the swing arm, the swing arm is driven by the second power assembly to rotate, and the second angle sensor is connected with the second power assembly.
2. The wrist training robot of claim 1, wherein: the frame is provided with a first guide piece, the first guide piece extends towards the rotating seat, and the arm support is movably arranged on the first guide piece.
3. The wrist training robot of claim 1, wherein: the swing arm is provided with a second guide piece, the second guide piece extends towards the rotating seat, and the handle is movably arranged on the second guide piece.
4. The wrist training robot of claim 1, wherein: the rotating seat is provided with a base and a balance block, and the base and the balance block are symmetrical relative to the rotating axis of the rotating seat;
the swing arm with the base rotates to be connected, the second power component sets up on the base.
5. The wrist training robot of claim 1, wherein: the arm support and the rotating seat are arranged along an axis, and the handle is positioned on one side of the axis.
6. The wrist training robot of claim 5, wherein: the ulnar deviation and radial deviation training assembly further comprises a support plate disposed on the swing arm that extends toward the axis.
7. The wrist training robot of claim 6, wherein: the handle is rotationally connected with the supporting plate.
8. The wrist training robot of claim 5, wherein: the handle is obliquely arranged towards the direction departing from the arm support.
9. A wrist training robot according to any one of claims 1 to 8, wherein: the wrist joint training robot further comprises a forearm rotation training assembly, and the arm support, the forearm rotation training assembly, the palmar flexion and dorsal extension training assembly and the ulnar deviation and radial deviation training assembly are sequentially arranged on the rack;
the forearm rotation training subassembly includes supporting seat and bandage, the supporting seat with the frame rotates to be connected, the bandage sets up on the arm support for fixed patient's forearm.
10. The wrist training robot of claim 9, wherein: the forearm rotation training subassembly still includes third power component, third power component sets up in the frame, the drive the supporting seat rotates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011117910.XA CN112155947A (en) | 2020-10-19 | 2020-10-19 | Wrist joint training robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011117910.XA CN112155947A (en) | 2020-10-19 | 2020-10-19 | Wrist joint training robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112155947A true CN112155947A (en) | 2021-01-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011117910.XA Pending CN112155947A (en) | 2020-10-19 | 2020-10-19 | Wrist joint training robot |
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| Country | Link |
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| CN (1) | CN112155947A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115227204A (en) * | 2022-07-08 | 2022-10-25 | 同济大学浙江学院 | Non-invasive wrist joint axis parameter measuring device and measuring method |
| WO2023004972A1 (en) * | 2021-07-30 | 2023-02-02 | 北京希迪克康复医学研究院有限公司 | Hand rehabilitation training device |
| CN115778755A (en) * | 2022-12-16 | 2023-03-14 | 复旦大学 | Wrist rehabilitation device and upper limb rehabilitation robot |
-
2020
- 2020-10-19 CN CN202011117910.XA patent/CN112155947A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023004972A1 (en) * | 2021-07-30 | 2023-02-02 | 北京希迪克康复医学研究院有限公司 | Hand rehabilitation training device |
| CN115227204A (en) * | 2022-07-08 | 2022-10-25 | 同济大学浙江学院 | Non-invasive wrist joint axis parameter measuring device and measuring method |
| CN115778755A (en) * | 2022-12-16 | 2023-03-14 | 复旦大学 | Wrist rehabilitation device and upper limb rehabilitation robot |
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