CN112973031A

CN112973031A - Hand limb rehabilitation training data analysis method and rehabilitation training device

Info

Publication number: CN112973031A
Application number: CN202110053454.5A
Authority: CN
Inventors: 史红斐; 鲍雪斐; 杨其华; 马高宏
Original assignee: Yiwu Affiliated Hospital of Zhejiang University School of Medicine
Current assignee: Yiwu Affiliated Hospital of Zhejiang University School of Medicine
Priority date: 2021-01-15
Filing date: 2021-01-15
Publication date: 2021-06-18

Abstract

The invention discloses a hand limb rehabilitation training data analysis method, which comprises the following steps: step 1: constructing a first rehabilitation grading evaluation standard curve according to the standard of the healthy person operating the training equipment; step 2: establishing a second rehabilitation grading evaluation standard curve which is in accordance with the trainer according to the current health state of the patient; and step 3: carrying out weighted average calculation on longitudinal axis values of the same transverse axis on the first rehabilitation grading evaluation standard curve and the second rehabilitation grading evaluation standard curve to obtain a target training curve of the joint; and 4, step 4: comparing an actual training curve generated by actual training with a target training curve, calculating the contact ratio of the actual training curve and the target training curve, and judging to realize a training target when the contact ratio is greater than a set value; and 5: and (4) making a new target training curve and repeating the step 4. The invention collects physical data in the rehabilitation training in real time, comprehensively evaluates the rehabilitation training effect by the data, and has very important significance for playing the role of the rehabilitation instrument and improving the rehabilitation training effect.

Description

Hand limb rehabilitation training data analysis method and rehabilitation training device

Technical Field

The invention relates to the field of rehabilitation training, in particular to a hand limb rehabilitation training data analysis method and rehabilitation training equipment.

Background

The functional recovery and strength enhancement training of the human body such as wrist overturning, arm rotating, shoulder joint rotating and the like is a progressive process, and different detailed training plan requirements can be met for efficiently achieving the rehabilitation target aiming at objects with different ages, different causes and different physical and morphological characteristics. In rehabilitation training, acquiring related physical data is a requirement for perception interaction and rehabilitation confidence enhancement of a training object, and is also a requirement for executing a training plan, evaluating a training effect and recovering functions.

The existing rehabilitation training equipment is designed, and the multi-side effect is higher than that of guiding reciprocating motion capable of realizing certain single action; aiming at the rehabilitation training effect, the method focuses on the qualitative judgment of the basic function recovery based on manual field evaluation. This condition cannot meet the requirements of the development of modern digital rehabilitation medicine and is not favorable for the requirement of fine management in the rehabilitation training stage.

Therefore, the prior art lacks a hand limb rehabilitation training data analysis method for acquiring physical data in rehabilitation training in real time, guiding scientific training by data, displaying field conditions by data and comprehensively evaluating rehabilitation training effects by data.

Disclosure of Invention

In order to solve the technical problems, the invention provides a hand and limb rehabilitation training data analysis method and rehabilitation training equipment, which are used for collecting physical data in rehabilitation training in real time, guiding scientific training by the data, showing field conditions by the data and comprehensively evaluating the rehabilitation training effect by the data, and have very important significance for playing the role of a rehabilitation instrument and improving the rehabilitation training effect.

The invention adopts the following technical scheme:

step 1: constructing a rehabilitation evaluation standard curve, and constructing a first rehabilitation grading evaluation standard curve according to the rotation angle, the specific location moment and the rotation speed of the wrist, the arm and the shoulder joint which can be realized by operating the training equipment by a healthy person (under the medical standard);

step 2: collecting the rotation angle, the specific moment and the rotation speed of the wrist, the arm and the shoulder joint which can be realized by operating the training equipment under the current health state of the patient, and establishing a second rehabilitation grading evaluation standard curve which is in accordance with the trainer;

and step 3: carrying out weighted average calculation on longitudinal axis values of the same transverse axis on a first rehabilitation grading evaluation standard curve and a second rehabilitation grading evaluation standard curve on the wrist, the arm and the shoulder joint to obtain a target training curve of the joint;

and 4, step 4: the rehabilitation training of the wrist, the arm and the shoulder joint of a patient is carried out on the hand and limb rehabilitation training device, an actual training curve generated by actual training is compared with a target training curve, the contact ratio of the two is calculated, and when the contact ratio is greater than a set value, the training target is judged to be realized;

and 5: and (4) taking the actual training curve determined to realize the training target as a new second rehabilitation grading evaluation standard curve, carrying out weighted average calculation with the longitudinal axis value of the same transverse axis on the first rehabilitation grading evaluation standard curve to obtain a new target training curve of a certain joint, repeating the step (4) until the contact ratio of the actual training curve and the first rehabilitation grading evaluation standard curve is greater than a set value, determining to recover health and sending the target training curve to a main doctor.

Preferably, the contact ratio is the difference or the sum of the similarity and a difference improvement value, and the difference improvement value is 1% of the difference between the actual training curve and the target training curve.

Preferably, the horizontal axis of the first rehabilitation ranking evaluation standard curve, the second rehabilitation ranking evaluation standard curve, the target training curve and the actual training curve represents time, and the vertical axis represents the superposition of torque and rotation angle.

Preferably, in constructing the target training curve, the weight of the vertical axis value in the second rehabilitation ranking evaluation standard curve is larger than the weight of the vertical axis value in the first rehabilitation ranking evaluation standard curve.

The utility model provides a hand limb rehabilitation training device, includes the installation frame and installs wrist training ware, forearm training ware, shoulder joint training ware, single chip microcomputer system, training ware display screen and the computer system on the installation frame, and respectively be equipped with one kind or multichannel torque sensor, angle sensor all the way on wrist training ware, forearm training ware and the shoulder joint training ware.

Preferably, the wrist trainer comprises a first fixing device fixedly connected with the mounting frame, a movable first lifting platform is arranged on the first fixing device, a first damping device is arranged on the first lifting platform, a first damping adjusting device is arranged at the rear side of the first lifting platform, the first damping device comprises a first shell, the first shell is provided with a first mounting hole, a rotating rod penetrates through the first mounting hole, the middle part of the rotating rod is provided with a cam, a damping plate is also arranged in the first shell, the damping plate is provided with a plurality of plate springs, sliding grooves are arranged at the two sides in the first shell, the damping plate is provided with a matched sliding part, the sliding part can be embedded into the sliding groove and moves in the sliding groove, the first damping adjusting device is a bolt, a first threaded hole is formed in the first lifting platform, and the bolt penetrates through the first threaded hole of the first lifting platform and abuts against the damping plate.

Preferably, the forearm trainer comprises a second fixing device fixedly connected with the installation frame, a movable second lifting platform is arranged on the second fixing device, a second damping device is arranged on the second lifting platform, a second damping adjusting device is arranged on the second lifting platform, the second damping device comprises a second shell, a second installation hole is formed in the second shell, a rotating piece is rotatably arranged in the second installation hole and comprises a rotating handle arranged outside, a rotating column arranged inside and a baffle plate arranged on the rotating column, the second damping adjusting device comprises an adjusting bolt, an adjusting nut matched with the adjusting bolt and an adjusting spring fixedly connected to the adjusting nut, and the other end of the adjusting spring is connected to the baffle plate.

Preferably, the shoulder joint trainer comprises a third fixing device fixedly connected with the installation frame, a movable third lifting platform is arranged on the third fixing device, a third damping device is arranged on the third lifting platform, a third damping adjusting device is arranged on the third damping device, the third damping device comprises a third shell, a third installation hole is formed in the third shell, a rotating block is rotatably arranged in the third installation hole, the rotating block is connected with a rotating ring, a connecting part is arranged on the rotating ring, a mounting groove is formed in the connecting part, a hand-held piece can be arranged in the mounting groove, a plurality of pairs of limiting grooves are further arranged in the mounting groove, a limiting connecting rod is arranged at the bottom of the hand-held piece, a limiting hole and a limiting sliding groove are further formed in the installation shell of the hand-held piece, an elastic piece and a sliding pin are arranged at corresponding positions on the limiting connecting rod, and the sliding pin slides in the limiting sliding groove, a herringbone groove is formed in the handheld piece, the limiting connecting rod comprises a first connecting rod, two hinged ends are arranged at the lower end of the first connecting rod and are respectively hinged with a second connecting rod, the second connecting rod is hinged with a third connecting rod, when the elastic telescopic piece is embedded into the limiting hole below, the second connecting rod and the third connecting rod are in a horizontal state, the third connecting rod is embedded into the limiting groove and is in a first state at the moment, when the elastic telescopic piece is embedded into the limiting hole above, the second connecting rod is in an inclined state, the handheld piece can move in the mounting groove, and at the moment, the handheld piece is in a second state.

Compared with the prior art, the invention has the following advantages:

1. the physical data in the rehabilitation training is collected in real time, scientific training is guided by the data, the field condition is shown by the data, the rehabilitation training effect is comprehensively evaluated by the data, and the method has very important significance for playing the role of a rehabilitation instrument and improving the rehabilitation training effect.

2. The wrist training device extrudes the plate spring through the cam to provide damping for a trainer to train a wrist joint, and the distance between the plate spring and the cam is adjusted through the bolt to adjust the damping size, so that the wrist training device is simple to operate.

3. The forearm trainer stretches the adjusting spring through rotating the rotating part to provide damping, and the contraction through the adjusting spring realizes resetting, and the damping size is adjusted through adjusting the adjusting bolt and the adjusting nut, so that the forearm trainer is simple in structure and convenient to operate.

4. The shoulder joint training device fixes the hand-held piece through the limiting connecting rod, and can move the hand-held piece through adjusting the limiting connecting rod to adjust the distance between the hand-held piece and the rotating axis so as to adapt to the lengths of different human arms, and the adaptability is high.

Drawings

Fig. 1 is a schematic view of the parameter acquisition process of the wrist trainer.

Fig. 2 is a whole working schematic diagram of the hand limb rehabilitation training device.

Fig. 3 is a schematic diagram of the construction of a target training curve.

Fig. 4 is a schematic structural diagram of the wrist trainer.

Fig. 5 is a front view of the wrist trainer.

Fig. 6 is a sectional view a-a of fig. 5.

Fig. 7 is a schematic structural diagram of the first lifting platform.

Fig. 8 is a schematic structural diagram of the first housing.

Fig. 9 is a schematic structural view of the forearm trainer.

Fig. 10 is a front view of the forearm trainer.

Fig. 11 is a sectional view taken along line B-B of fig. 10.

Fig. 12 is a schematic structural view of the second housing.

Fig. 13 is a schematic view of the assembly of the second damping adjustment device with the second housing.

Fig. 14 is a schematic structural view of the rotating member.

Fig. 15 is a schematic structural view of the shoulder joint training machine.

Fig. 16 is a schematic structural view of the shoulder joint trainer with the rotating ring removed.

Fig. 17 is a schematic structural view of the third housing.

Figure 18 is a cross-sectional view of the hand piece with the third link inserted into the restraint slot.

Figure 19 is a cross-sectional view of the hand piece with the third link disengaged from the restraint slot.

Fig. 20 is a partial cross-sectional view of the hand piece.

Fig. 21 is a schematic view of the structure of the rotating ring.

Fig. 22 is a partially enlarged view of the portion of fig. 21C.

Fig. 23 is a top view of the rotating ring.

Fig. 24 is a cross-sectional view taken along line D-D of fig. 23.

Fig. 25 is an enlarged view of part E of fig. 24.

Fig. 26 is a schematic view of the overall structure of the rehabilitation training device.

Fig. 27 is a schematic circuit configuration diagram of the rehabilitation training device.

In the figure, the mounting frame 1, the wrist trainer 2, the first fixing device 21, the first elevating platform 22, the first screw hole 221, the first damper 23, the first housing 231, the first mounting hole 232, the rotating rod 233, the cam 2331, the damper plate 234, the slider 2341, the leaf spring 235, the sliding groove 236, the first damper adjusting device 24, the forearm trainer 3, the second fixing device 31, the second elevating platform 32, the second damper 33, the second housing 331, the second mounting hole 332, the rotating member 333, the rotating handle 3331, the rotating column 3332, the baffle 3333, the second damper adjusting device 34, the adjusting bolt 341, the adjusting nut 342, the adjusting spring 343, the shoulder joint trainer 4, the third fixing device 41, the third elevating platform 42, the third damper 43, the third housing 431, the third mounting hole 432, the rotating block 433, the rotating ring 434, the connecting part 4341, the mounting groove 4342, the limiting groove 4343, the limiting groove 434, The hand-held piece 435, the limit connecting rod 4351, the limit hole 4352, the elastic telescopic piece 4353, the herringbone groove 4354, the mounting shell 4355, the limit sliding groove 4356, the sliding pin 4357, the third damping adjusting device 44, the singlechip system 5, the trainer display screen 6 and the computer system 7.

Detailed Description

In order to facilitate understanding of the technical solutions of the present invention, the following detailed description is made with reference to the accompanying drawings and specific embodiments.

Example 1

As shown in fig. 1-3, a hand limb rehabilitation training data analysis method, wherein the horizontal axis of each curve represents time, and the vertical axis represents the superposition of moment and gyration angle; for example, in the training and recovery of the wrist joint, the moment is adjusted to 50N · m, the rotation limit of the wrist training device 2 is 90 °, then at time 0, the longitudinal axis value is 50, the curve starts to rise with the rotation of the rotation rod 233, the longitudinal axis value is 140, the rotation rod 233 is rotated reversely, the curve starts to fall, the longitudinal axis value is 50, the difference value of the longitudinal axis value is the rotation angle, 50N · m is the specific moment value, and the rotation speed can be obtained by the ratio of the rotation angle value to the rotation time.

The method comprises the following specific steps:

step 1: a rehabilitation evaluation standard curve is constructed, and a first rehabilitation grading evaluation standard curve is constructed according to the rotation angle, the specific moment and the rotation speed of the wrist, the arm and the shoulder joint, which can be realized by operating the training equipment by a healthy person (under the medical standard), wherein the curve is the lowest standard of daily life of a normal person, the horizontal axis of the curve represents time, and the vertical axis of the curve represents the superposition of the moment and the rotation angle.

Step 2: collecting the rotation angle, the specific moment and the rotation speed of the wrist, the arm and the shoulder joint which can be realized by operating the training device under the current health state of the patient, and establishing a second rehabilitation grading evaluation standard curve which is in accordance with the trainer, wherein the curve is a rehabilitation standard specially customized for the trainer, the numerical value of the curve is lower than that of the first rehabilitation grading evaluation standard curve, the horizontal axis of the curve represents time, and the vertical axis of the curve represents the superposition of the moment and the rotation angle.

And step 3: carrying out weighted average calculation on longitudinal axis values of the same transverse axis on a first rehabilitation grading evaluation standard curve and a second rehabilitation grading evaluation standard curve on a wrist joint, an arm joint and a shoulder joint to obtain a target training curve of the joint, wherein the transverse axis of the curve represents time, and the longitudinal axis represents superposition of moment and a rotation angle;

when a target training curve is constructed, the weight of the longitudinal axis value in the second rehabilitation grading evaluation standard curve is larger than the weight of the longitudinal axis value in the first rehabilitation grading evaluation standard curve, so that the target training curve can be closer to the current physical state of a trained patient, the excessive training of the patient is avoided, in practice, the weight range of the first rehabilitation grading evaluation standard curve can be 20% -40%, and the weight range of the second rehabilitation grading evaluation standard curve is 60% -80%;

for example, on the same horizontal axis, the vertical axis value of the first rehabilitation ranking evaluation standard curve is 150 (weighting 30%), the vertical axis value of the second rehabilitation ranking evaluation standard curve is 100 (weighting 70%), then the vertical axis value of the target training curve at that time is 115, and so on, and the whole target training curve is obtained.

And 4, step 4: the rehabilitation training of the wrist, the arm and the shoulder joint of a patient is carried out on hand and limb rehabilitation training equipment, an actual training curve (the horizontal axis of the curve represents time, and the vertical axis represents the superposition of moment and a rotation angle) generated by actual training is compared with a target training curve, the contact ratio of the two curves is calculated, and when the contact ratio is greater than a set value, the training target is judged to be realized; wherein the degree of coincidence is a difference or sum of the degree of similarity and the difference improvement value, wherein the degree of similarity may be determined by a point-based method: EDR, lcs, DTW or shape-based methods: frechet, Hausdorff, and because the similarity is percentage, the difference between the actual training curve and the target training curve is divided by 100 (or 1% of the difference is taken) to obtain a difference improvement value close to the similarity, and then the similarity and the difference improvement value are subtracted or summed to obtain the contact ratio.

When the longitudinal axis value of the actual training curve is lower than that of the target training curve, the meaning of the difference value between the actual training curve and the target training curve is the degree of not reaching the training target, and the difference value is data for reducing the contact ratio, so that the contact ratio is obtained by subtracting the similarity value and the difference value improved value; when the value of the vertical axis of the actual training curve is higher than that of the target training curve, the difference value between the actual training curve and the target training curve means a degree exceeding the training target, and is data for improving the contact ratio, so that the contact ratio is obtained by summing the similarity and the difference improvement value.

In this embodiment, when the contact ratio is greater than 80%, it is determined that the training target is achieved.

And 5: and (3) taking the actual training curve determined to realize the training target as a new second rehabilitation grading evaluation standard curve, carrying out weighted average calculation on the new second rehabilitation grading evaluation standard curve and a vertical axis value of the same horizontal axis on the first rehabilitation grading evaluation standard curve to obtain a new target training curve of a certain joint, repeating the step (4) until the coincidence degree of the actual training curve and the first rehabilitation grading evaluation standard curve is greater than a set value, determining to recover health and sending the result to a main doctor, wherein the set value is 80% in the embodiment.

As shown in fig. 4-27, a hand and limb rehabilitation training device comprises an installation frame 1, and a wrist trainer 2, a forearm trainer 3, a shoulder joint trainer 4, a single chip microcomputer system 5, a trainer display screen 6 and a computer system 7 which are installed on the installation frame 1, wherein the wrist trainer 2, the forearm trainer 3 and the shoulder joint trainer 4 are respectively provided with one or more torque sensors and one angle sensor. Fig. 1 shows a parameter acquisition process by taking a wrist trainer 2 as an example.

The mechanical balance relationship model of the three trainers can be expressed as follows:

wherein T is the operation input torque, Tz is the resistance torque set by the equipment, and n is the rotating speed of a rotating shaft on the equipment, which can be regarded as two-dimensional quantities of a rotating angle alpha and time T. In fig. 1, when the wrist trainer 2 operates in a full range, an input torque signal t (t) can be acquired through a torque sensor, and a rotating shaft rotation angle signal α (t) can be acquired through an angle sensor; when two signals are synchronously acquired on the wrist trainer 2, two-dimensional input torque quantity T (alpha, T) can be obtained through conversion. The resistive torque on the wrist trainer 2 is provided by the first damping means 23, the damping characteristics of which are determined after the preset position of the first damping means 23 has been determined.

The rotating rod 233 of the wrist training device 2 can be twisted within the range of ± α around the axis from 0 °, and the twisting resistance depends on the elastic coefficient of the plate spring 235 and the adjustment of the first damping adjustment device 24. Torque sensors are arranged on the left side and the right side of the rotating rod 233 and can acquire rotating torque data; the rotating rod 233 is also provided with an angle sensor which can synchronously acquire the torsion angle of the rotating rod 233; the two groups of data can be transmitted to the singlechip system 5 in real time and further transmitted to the computer system 7.

The wrist trainer 2 comprises a first fixing device 21 fixedly connected with the mounting frame 1, a movable first lifting platform 22 is arranged on the first fixing device 21, a first damping device 23 is arranged on the first lifting platform 22, a first damping adjusting device 24 is arranged at the rear side of the first lifting platform 22, the first damping device 23 comprises a first shell 231, the first shell 231 is provided with a first mounting hole 232, a rotating rod 233 penetrates through the first mounting hole 232, a cam 2331 is arranged in the middle of the rotating rod 233, a damping plate 234 is further arranged in the first shell 231, a plurality of leaf springs 235 are arranged on the damping plate 234, sliding grooves 236 are arranged at two sides in the first shell 231, a matched sliding piece 2341 is arranged on the damping plate 234, the sliding piece 2341 can be embedded into the sliding grooves 236 and can move in the sliding grooves 236, the first damping adjusting device 24 is a bolt, a first threaded hole 221 is arranged on the first lifting platform 22, the bolt penetrates through the first threaded hole 221 of the first lifting platform 22 and abuts against the damping plate 234.

When the wrist trainer 2 is used, the cam 2331 can contact and press the leaf spring 235 by only rotating the rotating rod 233, so as to generate damping to realize the function of wrist training; if the magnitude of the damping force needs to be adjusted, the bolt is simply rotated, for example, the damping plate 234 is moved in a direction approaching the rotation lever 233 by rotating the bolt inward, the distance between the cam and the damping plate 234 is reduced, a larger force is required to rotate the cam, and the magnitude of the damping force is increased.

The rotating part 333 of the forearm trainer 3 can be rotated from the initial angular position (0 °) within the range of ± α ° around the axis, and the resistance to rotation depends on the elastic coefficient of the adjusting spring 343 and the adjustment of the second damping adjustment device 34. A torque sensor is arranged on the rotating part 333 and can acquire rotating torque data; the rotating part 333 is also provided with an angle sensor which can synchronously acquire the torsion angle of the rotating part 333; the two groups of data can be transmitted to the singlechip system 5 in real time and further transmitted to the computer system 7.

The forearm trainer 3 comprises a second fixing device 31 fixedly connected with the mounting frame 1, a movable second lifting platform 32 is arranged on the second fixing device 31, a second damping device 33 is arranged on the second lifting platform 32, a second damping adjusting device 34 is arranged on the second lifting platform 32, the second damping device 33 comprises a second housing 331, the second housing 331 is provided with a second mounting hole 332, a rotating member 333 is rotatably mounted in the second mounting hole 332, the rotation member 333 includes a rotation handle 3331 provided at the outside, a rotation post 3332 provided at the inside, and a blocking plate 3333 provided on the rotation post 3332, the second damping adjustment device 34 includes an adjustment bolt 341, an adjustment nut 342 fitted on the adjustment bolt 341, and an adjustment spring 343 fixedly coupled to the adjustment nut 342, and the other end of the adjustment spring 343 is coupled to a baffle 3333.

When the forearm trainer 3 is used, only the rotating handle 3331 needs to be rotated, the baffle 3333 arranged on the rotating column 3332 can rotate along with the rotating handle 3331, then the adjusting spring 343 is pulled and deformed to generate damping, and the adjusting spring 343 automatically resets after the rotating handle 3331 is loosened; if the damping size needs to be adjusted, only the adjusting bolt 341 needs to be rotated, and since one end of the adjusting spring 343 is fixedly connected to the baffle 3333 and the other end is fixedly connected to the adjusting nut 342, when the adjusting bolt 341 is rotated, the adjusting nut 342 moves on the adjusting bolt 341, so that the length of the adjusting spring 343 is changed to change the damping size.

The rotary ring 434 of the shoulder joint trainer 4 can be twisted within a range of +/-alpha deg. around the shaft from the initial angular position (0 deg.), and the torsional resistance depends on the elastic coefficient of the third damping device 43 and the adjustment of the third damping adjustment device 44. A torque sensor is arranged on the rotating ring 434 and can acquire rotating torque data; the rotating ring 434 is also provided with an angle sensor which can synchronously acquire the torsion angle of the rotating ring 434; the two groups of data can be transmitted to the singlechip system 5 in real time and further transmitted to the computer system 7. Alternatively, strain gauge sensors on the rotating ring 434 may also enable acquisition of the torsional data.

The shoulder joint trainer 4 comprises a third fixing device 41 fixedly connected with the mounting frame 1, a movable third lifting platform 42 is arranged on the third fixing device 41, a third damping device 43 is arranged on the third lifting platform 42, a third damping adjusting device 44 is arranged on the third damping device 43, the third damping device 43 comprises a third shell 431, the third shell 431 is provided with a third mounting hole 432, a rotating block 433 is rotatably arranged in the third mounting hole 432, the rotating block 433 is connected with a rotating ring 434, a connecting part 4341 is arranged on the rotating ring 434, a mounting groove 4342 is arranged on the connecting part 4341, a hand piece 435 is arranged in the mounting groove 4342, a plurality of pairs of limiting grooves 4343 are arranged in the mounting groove 4342, a limiting connecting rod 4351 is arranged at the bottom of the hand piece, a limiting hole 4352 and a limiting sliding groove 4356 are arranged on a mounting shell 4355 of the hand piece 435, an elastic member 4353 and a sliding pin 4357 are disposed at corresponding positions on the limit link 4351, the sliding pin 4357 slides in a limit sliding slot 4356, when the sliding pin 4357 slides to the top, the elastic member 4353 is compressed and deformed to retract into the mounting housing 4355 and move upward, when the sliding pin 4357 slides to the bottom, the elastic member 4353 is inserted into the limit slot 4352 to limit the position, the limit link 4351 is prevented from being disengaged from the limit slot 4343, a herringbone slot 4354 is disposed in the hand-held member 435, the limit link 4351 includes a first link, two hinged ends are disposed at a lower end of the first link, a second link is hinged to the second link, the second link is hinged to a third link, when the elastic expansion member 4353 is inserted into the limit hole 4352 located at the lower side, the second link and the third link are in a horizontal state, the third link is inserted into the limit slot 4343, which is in a first state, the elastic expansion member 4353 is inserted into the limit hole 4352 located at the upper side, the second link is in an inclined state, and the hand piece 435 is movable in the mounting groove 4342, which is the second state.

When the shoulder joint trainer 4 is used, the rehabilitation training of the shoulder joint can be realized only by rotating the rotating ring 434; if the trainer is inconvenient to hold the hand-held element 435 due to too long or too short arm length, the distance between the hand-held element 435 and the rotating shaft can be adjusted, that is, the elastic expansion element 4353 is pressed to lift the hand-held element 435, the elastic expansion element 4353 is embedded into the limit hole 4352 positioned above, the first connecting rod is vertical, the second connecting rod is inclined, the third connecting rod is horizontal and does not extend into the limit groove 4343, the third connecting rod can move in the mounting groove 4342, the elastic expansion element 4353 is pressed down after the hand-held element 4353 is moved to a proper position, the hand-held element 435 is pressed downwards, the elastic expansion element 4353 is embedded into the limit hole 4352 positioned below, the distance between the hand-held element 435 and the rotating shaft is adjusted, and the first connecting rod is vertical, the second connecting rod is horizontal, and the third connecting rod is horizontal and extends into the limit groove 43.

The above is only a preferred embodiment of the present invention, and the scope of the present invention is defined by the appended claims, and several modifications and amendments made by those skilled in the art without departing from the spirit and scope of the present invention should be construed as the scope of the present invention.

Claims

1. A hand limb rehabilitation training data analysis method is characterized by comprising the following steps:

2. The method of claim 1, wherein the degree of coincidence is a difference or a sum of the similarity and a difference improvement value, and the difference improvement value is 1% of a difference between the actual training curve and the target training curve.

3. The method of claim 1, wherein the horizontal axis of the first rehabilitation grading assessment standard curve, the second rehabilitation grading assessment standard curve, the target training curve and the actual training curve represents time, and the vertical axis represents the superposition of torque and rotation angle.

4. The method as claimed in claim 1, wherein the weight of the vertical axis value in the second rehabilitation grading assessment standard curve is larger than the weight of the vertical axis value in the first rehabilitation grading assessment standard curve when the target training curve is constructed.

5. The utility model provides a hand limb rehabilitation training equipment, its characterized in that includes installation frame (1) and installs wrist training ware (2), forearm training ware (3), shoulder joint training ware (4), single chip microcomputer system (5), training ware display screen (6) and computer system (7) on installation frame (1), and respectively be equipped with one kind or multichannel torque sensor, angle sensor all the way on wrist training ware (2), forearm training ware (3) and shoulder joint training ware (4).

6. The hand limb rehabilitation training device of claim 5, wherein the wrist trainer (2) comprises a first fixing device (21) fixedly connected with the mounting frame (1), a movable first lifting platform (22) is arranged on the first fixing device (21), a first damping device (23) is arranged on the first lifting platform (22), a first damping adjusting device (24) is arranged at the rear side of the first lifting platform (22), the first damping device (23) comprises a first shell (231), a first mounting hole (232) is arranged on the first shell (231), a rotating rod (233) penetrates through the first mounting hole (232), a cam (2331) is arranged in the middle of the rotating rod (233), a damping plate (234) is further arranged in the first shell (231), a plurality of leaf springs (235) are arranged on the damping plate (234), and sliding grooves (236) are arranged at two sides in the first shell (231), be equipped with assorted slider (2341) on damping plate (234), slider (2341) can imbed in sliding tray (236) and move in sliding tray (236), first damping adjusting device (24) are the bolt, are equipped with first screw hole (221) on first lift platform (22), and the first screw hole (221) that the bolt runs through first lift platform (22) support on damping plate (234).

7. The rehabilitation training device for hand limbs according to claim 5, wherein the forearm trainer (3) comprises a second fixing device (31) fixedly connected with the mounting frame (1), a movable second lifting platform (32) is arranged on the second fixing device (31), a second damping device (33) is mounted on the second lifting platform (32), a second damping adjusting device (34) is arranged on the second lifting platform (32), the second damping device (33) comprises a second shell (331), the second shell (331) is provided with a second mounting hole (332), a rotating member (333) is rotatably mounted in the second mounting hole (332), the rotating member (333) comprises a rotating handle (3331) arranged outside, a rotating column (3332) arranged inside and a baffle plate (3333) arranged on the rotating column (3332), and the second damping adjusting device (34) comprises an adjusting bolt (341), The adjusting bolt is characterized by comprising an adjusting nut (342) matched on the adjusting bolt (341) and an adjusting spring (343) fixedly connected to the adjusting nut (342), and the other end of the adjusting spring (343) is connected to the baffle plate (3333).

8. The hand and limb rehabilitation training device of claim 5, wherein the shoulder joint trainer (4) comprises a third fixing device (41) fixedly connected with the mounting frame (1), a movable third lifting platform (42) is arranged on the third fixing device (41), a third damping device (43) is mounted on the third lifting platform (42), a third damping adjusting device (44) is arranged on the third damping device (43), the third damping device (43) comprises a third shell (431), the third shell (431) is provided with a third mounting hole (432), a rotating block (433) is rotatably mounted in the third mounting hole (432), the rotating block (433) is connected with a rotating ring (434), the rotating ring (434) is provided with a connecting part (4341), the connecting part (4341) is provided with a mounting groove (4342), a hand-held piece (435) can be mounted in the mounting groove (4342), the mounting groove (4342) is internally provided with a plurality of pairs of limiting grooves (4343), the bottom of the hand piece (435) is provided with a limiting connecting rod (4351), the mounting shell (4355) of the hand piece (435) is further provided with a limiting hole (4352) and a limiting sliding groove (4356), the limiting connecting rod (4351) is provided with an elastic piece (4353) and a sliding pin (4357) at corresponding positions, the sliding pin (4357) slides in the limiting sliding groove (4356), the hand piece (435) is internally provided with a herringbone groove (4354), the limiting connecting rod (4351) comprises a first connecting rod, the lower end of the first connecting rod is provided with two hinged ends which are respectively hinged with a second connecting rod, the second connecting rod is hinged with a third connecting rod, when the elastic telescopic piece (4353) is embedded in the limiting hole (4352) positioned below, the second connecting rod and the third connecting rod are in a horizontal state, the third connecting rod is embedded in the limiting groove (4343), the first state is realized, and when the elastic telescopic piece (4353) is embedded in the limiting hole (4352) positioned above, the second link is in a tilted state, and the hand piece (435) can move in the mounting groove (4342), and is in a second state.