CN113288728A - Training device for upper limb rehabilitation and using method thereof - Google Patents

Abstract

The invention provides a training device for upper limb rehabilitation, which comprises a workbench, wherein an air cylinder is arranged on the workbench, the air cylinder comprises a cylinder body arranged on the workbench, a piston is arranged in the cylinder body, the piston is hinged with a piston rod, the other end of the piston rod is hinged with a first push rod through a first shaft pin, the other end of the first push rod is connected with a first handle, a second shaft pin is arranged on the first push rod, the second shaft pin is hinged with a first hinge seat arranged on the workbench, the cylinder body is connected with a pneumatic glove through a hose, and the pneumatic glove is driven by the handle to pump air/inflate through the air cylinder so as to complete the action of bending and stretching fingers; the training device for upper limb rehabilitation provided by the invention has the advantages of reasonable structure, simple operation, good rehabilitation effect and wide application range, and can be used by patients in different rehabilitation stages.

Description

Training device for upper limb rehabilitation and using method thereof

Technical Field

The invention belongs to the technical field of medical instruments, and particularly relates to a training device for upper limb rehabilitation and a using method thereof.

Background

Stroke is also known as stroke and cerebrovascular accident. The cerebrovascular disease is an acute cerebrovascular disease, is a group of diseases which cause brain tissue damage because blood cannot flow into the brain due to sudden rupture of cerebral vessels or blockage of blood vessels, patients are over 40 years old, and more females are in males and serious patients can cause death. Mortality from hemorrhagic stroke is high. The investigation shows that the urban and rural total stroke becomes the first death reason in China and is also the leading cause of the disability of adults in China, and the stroke has the characteristics of high morbidity, high mortality and high disability rate.

The hand dysfunction of stroke patients is often manifested as flexion contracture, dominant hand flexor tension, difficult extension of interphalangeal joints and metacarpophalangeal joints of the hands, loss of holding, palm facing and a series of fine movement functions, and great inconvenience to life of the patients. The principle of stroke rehabilitation is that the earlier the better, early rehabilitation therapy is an important measure to alleviate or reduce the disability, disability and disability of the patient.

The existing training device for upper limb rehabilitation has a single training mode and cannot carry out targeted training on patients in different training stages; therefore, when the rehabilitation training is clinically performed on a patient, each facet joint of the hand is usually manually moved, so that the workload of a rehabilitation worker is large, and time and labor are wasted.

Disclosure of Invention

The invention aims to provide a training device for upper limb rehabilitation, which has the advantages of reasonable structure, simple operation, good rehabilitation effect and wide application range and can be used by patients in different rehabilitation stages.

In order to achieve the purpose, according to the technical scheme of the invention, the training device for upper limb rehabilitation comprises a workbench, wherein an air cylinder is arranged on the workbench, the air cylinder comprises a cylinder body arranged on the workbench, a piston is arranged in the cylinder body, the piston is connected with a piston rod, the piston rod is connected with a driving mechanism, the cylinder body is connected with a pneumatic glove through a hose, and the pneumatic glove is driven by the driving mechanism to pump air/inflate the air cylinder through the piston rod so as to complete the flexion and extension actions of fingers.

More specifically, actuating mechanism includes first push rod, the one end of first push rod is connected with the first in command, and the other end of first push rod is articulated with the piston rod through first pivot, is equipped with the second axle round pin on the first push rod, the second axle round pin is articulated with the first articulated seat of locating on the workstation, the piston rod is articulated with the piston.

More specifically, actuating mechanism includes first push rod, the one end of first push rod is connected with the first in command, is equipped with the second axle round pin on the first push rod, the second axle round pin is articulated with the first articulated seat of locating on the workstation, be equipped with the gear on the second axle round pin, the piston rod is connected with the rack with gear engagement.

More specifically, pneumatic gloves includes the gloves body, be equipped with the shunt on the gloves body, the air inlet and the hose connection of shunt, five shunt tubess that correspond with the finger are connected respectively to the gas outlet of shunt, every the shunt tubess corresponds finger joint department and is equipped with the gasbag.

More specifically, the glove body is provided with a fixing plate corresponding to the palm center, the fixing plate is provided with a lantern ring, and the inner diameter of the lantern ring is matched with the first handle.

More specifically, be equipped with controller and first motor on the workstation, the output and the second axle pin junction of first motor, controller and first motor electric connection.

More specifically, be connected with angle sensor on the second pivot pin, be equipped with the training auxiliary engine on the workstation, the training auxiliary engine is including locating the articulated seat of second on the workstation, the articulated seat of second is equipped with servo motor, servo motor's output is connected with the third pivot, the third pivot is articulated with the articulated seat of second, and the third pivot is sold and is installed on the second push rod, be connected with the second handle on the second push rod, angle sensor and servo motor all with controller electric connection, be equipped with the display screen on the controller.

More specifically, the controller electric connection with electromyographic signal sensor and electro photoluminescence head, electromyographic signal sensor and electro photoluminescence head all set up with the affected side on the hand muscle group that needs the training.

More specifically, be equipped with the baffle on the workstation, the baffle is located between cylinder body and the training auxiliary engine.

A method of using a training device for upper limb rehabilitation, comprising the steps of:

the affected hand wears the pneumatic gloves, and the healthy hand is arranged on the first handle;

when the fingers of the healthy hand stretch and the palm pushes the first handle forwards, the air cylinder exhausts air to the air bag, and the pneumatic gloves drive the fingers of the affected hand to stretch straight;

when the fingers of the healthy hand bend and the palm holds the first handle and pulls backwards, the air chamber is inflated by the air cylinder, and the pneumatic gloves drive the fingers of the affected hand to bend;

alternatively, the first and second electrodes may be,

when the fingers of the healthy hand stretch straight and the palm pushes the first handle forward, the air bag is inflated by the air cylinder, and the pneumatic gloves drive the fingers of the affected hand to bend;

when the fingers of the healthy hand are bent and the palm holds the first handle and pulls backwards, the air cylinder exhausts air from the air bag, and the pneumatic gloves drive the fingers of the affected hand to be straightened.

A method of using a training device for upper limb rehabilitation, comprising the steps of:

the pneumatic glove is worn on the hand at the affected side and sleeved on the first handle through a lantern ring;

when the affected hand pushes the first handle forwards, the air cylinder exhausts air from the air bag, and the pneumatic gloves drive the fingers of the affected hand to be straightened;

when the first handle is pulled backwards by the hand at the affected side, the air bag is inflated by the air cylinder, and the fingers of the hand at the affected side are driven by the pneumatic gloves to bend;

alternatively, the first and second electrodes may be,

when the affected hand pushes the first handle forwards, the air bag is inflated by the air cylinder, and the pneumatic gloves drive the fingers of the affected hand to bend;

when the first handle is pulled backwards by the hand at the affected side, the air chamber is pumped by the air cylinder, and the pneumatic gloves drive the fingers of the hand at the affected side to be straightened.

A method of using a training device for upper limb rehabilitation, comprising the steps of:

the air-actuated glove is worn by the hand at the affected side, the hand at the healthy side is arranged on the first handle, and the air-actuated glove is sleeved on the second handle through the lantern ring;

when the healthy hand pushes the first handle forwards, the air cylinder exhausts air from the air bag, the pneumatic gloves drive the fingers of the affected hand to straighten, the angle sensor acquires angle information alpha of the first push rod rotating around the second axis pin and transmits the angle information alpha to the controller, the controller sends a control instruction to the servo motor, and the servo motor drives the second push rod to rotate around the third axis pin in the same direction by the angle alpha;

when the healthy hand pulls the first handle backwards, the air cylinder inflates the air bag, the pneumatic gloves drive the fingers of the affected hand to bend, the angle sensor acquires angle information beta of the first push rod rotating around the second axis pin and transmits the angle information beta to the controller, the controller sends a control instruction to the servo motor, and the servo motor drives the second push rod to rotate around the third axis pin in the same direction by the angle beta;

alternatively, the first and second electrodes may be,

when the healthy hand pushes the first handle forwards, the air cylinder inflates the air bag, the pneumatic gloves drive the fingers of the affected hand to bend, the angle sensor acquires angle information alpha of the first push rod rotating around the second axis pin and transmits the angle information alpha to the controller, the controller sends a control instruction to the servo motor, and the servo motor drives the second push rod to reversely rotate around the third axis pin by the angle alpha;

when the healthy side hand pulls the first handle backwards, the air cylinder exhausts air from the air bag, the pneumatic gloves drive fingers of the affected side hand to straighten, the angle sensor collects angle information beta of the first push rod rotating around the second axis pin and transmits the angle information beta to the controller, the controller sends a control instruction to the servo motor, and the servo motor drives the second push rod to reversely rotate around the third axis pin by the angle beta.

Or

When the healthy side hand pushes the first handle forwards, the air cylinder exhausts air from the air bag, the pneumatic gloves drive fingers of the affected side hand to straighten, the angle sensor acquires angle information alpha of the first push rod rotating around the second axis pin and transmits the angle information alpha to the controller, the controller sends a control instruction to the servo motor, and the servo motor drives the second push rod to reversely rotate around the third axis pin by the angle alpha.

When the healthy hand pulls the first handle backwards, the air cylinder inflates the air bag, the pneumatic gloves drive the fingers of the affected hand to bend, the angle sensor acquires the angle information beta of the first push rod rotating around the second axis pin and transmits the angle information beta to the controller, the controller sends a control instruction to the servo motor, and the servo motor drives the second push rod to reversely rotate around the third axis pin by the angle beta.

Or

When the healthy side hand pushes the first handle forwards, the air cylinder inflates the air bag, the pneumatic gloves drive the fingers of the affected side hand to bend, the angle sensor acquires angle information alpha of the first push rod rotating around the second axis pin and transmits the angle information alpha to the controller, the controller sends a control instruction to the servo motor, and the servo motor drives the second push rod to rotate around the third axis pin in the same direction by the angle alpha.

When the healthy hand pulls the first handle backwards, the air cylinder exhausts air from the air bag, the pneumatic gloves drive the fingers of the affected hand to straighten, the angle sensor collects the angle information beta of the first push rod rotating around the second axis pin and transmits the angle information beta to the controller, the controller sends a control instruction to the servo motor, and the servo motor drives the second push rod to rotate around the third axis pin in the same direction by the angle beta.

The pneumatic glove has the advantages that the patient drives the piston rod to move through the driving mechanism, the piston rod drives the piston to reciprocate along the cylinder body, the pneumatic glove can be inflated/exhausted through the air cylinder, the finger flexion and extension actions are completed, the structure is reasonable, the operation is simple, and the patient can independently perform rehabilitation training; when the device is used, the patient can select the healthy side hand to drive the finger of the affected side hand to perform flexion and extension training and also select the affected side hand to drive the finger of the affected side hand to perform flexion and extension training, the application range is wide, the rehabilitation effect is good, the device can be used by patients in different rehabilitation stages, the time of a therapist for performing hand training for a long time can be saved, and medical resources are saved.

Drawings

FIG. 1 is a schematic structural diagram of an embodiment of the present invention;

FIG. 2 is a schematic structural view of the cylinder shown in FIG. 1;

FIG. 3 is a schematic view of the piston rod shown in FIG. 2;

FIG. 4 is a schematic structural view of the pneumatic glove of FIG. 1;

FIG. 5 is a schematic structural view of the glove body shown in FIG. 4;

FIG. 6 is a schematic view of the collar shown in FIG. 5;

FIG. 7 is a schematic view of the structure of the separator;

FIG. 8 is a schematic diagram of the training auxiliary shown in FIG. 7;

FIG. 9 is a schematic structural view of the second push rod shown in FIG. 8;

FIG. 10 is a schematic view of a rack;

fig. 11 is a schematic structural diagram of the first switch.

In the figure, 1, a workbench; 11. a first hinge mount; 13. a partition plate; 2. a cylinder body; 21. a piston; 22. a piston rod; 23. a first shaft pin; 24. a first push rod; 241. a first switch; 242. a second switch; 25. a first handle; 26. a second shaft pin; 27. a gear; 28. a rack; 3. a hose; 4. a pneumatic glove; 41. a glove body; 42. a flow divider; 43. a shunt tube; 44. an air bag; 45. a fixing plate; 46. a collar; 5. a first motor; 6. an angle sensor; 7. training the auxiliary machine; 71. a second hinge mount; 72. a servo motor; 73. a third shaft pin; 74. a second push rod; 75. a second handle; 8. and a controller.

Detailed Description

The technical scheme of the invention is further described in detail by combining the drawings and the specific embodiments:

example one

Referring to fig. 1-6 together, the training device for upper limb rehabilitation provided in this embodiment includes a workbench 1, an air cylinder is disposed on the workbench 1, the air cylinder includes a cylinder body 2 disposed on the workbench 1, a piston 21 is disposed in the cylinder body 2, the piston 21 is connected to a piston rod 22, the piston rod 22 is connected to a driving mechanism, the cylinder body 2 is connected to a pneumatic glove 4 through a hose 3, and the pneumatic glove 4 is driven by the driving mechanism through the piston rod 22 to pump air/inflate the air cylinder, so as to complete the flexion and extension actions of the fingers.

The patient drives the piston rod 22 to move through the driving mechanism, the piston rod 22 drives the piston 21 to reciprocate along the cylinder body 2, the pneumatic glove 4 can be inflated/exhausted through the cylinder, the finger bending and stretching actions are completed, the structure is reasonable, the operation is simple, and the patient can independently perform rehabilitation training; when the device is used, the patient can select the healthy side hand to drive the finger of the affected side hand to perform flexion and extension training and also select the affected side hand to drive the finger of the affected side hand to perform flexion and extension training, the application range is wide, the rehabilitation effect is good, the device can be used by patients in different rehabilitation stages, the time of a therapist for performing hand training for a long time can be saved, and medical resources are saved.

More specifically, the driving mechanism comprises a first push rod 24, one end of the first push rod 24 is connected with a first handle 25, the other end of the first push rod 24 is hinged with a piston rod 22 through a first shaft pin 23, a second shaft pin 26 is arranged on the first push rod 24, the second shaft pin 26 is hinged with a first hinge seat 11 arranged on the workbench 1, and the piston rod 22 is hinged with a piston 21; the distance between the second shaft pin 26 and the first shaft pin 23 is smaller than the distance between the second shaft pin 26 and the first handle 25; through the lever principle, the first push rod 24 takes the second shaft pin 26 as a fulcrum, the distance between the second shaft pin 26 and the first shaft pin 23 is a resistance arm, the distance between the second shaft pin 26 and the first handle 25 is a power arm, and a patient can save the physical strength of the patient by pushing/pulling the first handle 25 to drive the piston 21 to reciprocate along the cylinder body 2.

More specifically, the pneumatic glove 4 comprises a glove body 41, a diverter 42 is arranged on the glove body 41, an air inlet of the diverter 42 is connected with the hose 3, an air outlet of the diverter 42 is respectively connected with five diversion pipes 43 corresponding to the fingers, and an air bag 44 is arranged at the position of each diversion pipe 43 corresponding to the finger joint; glove body 41 is comfortable to wear, and it drives patient's finger through gasbag 44 air exhaust/aerify and grabs, holds, extends etc. passive training, and is rational in infrastructure, and the security is high, can restrain the spasm of finger effectively, resumes the finger flexibility, can not only improve patient's recovered effect and quality of life.

More specifically, a fixing plate 45 is arranged at the position, corresponding to the palm, of the glove body 41, a lantern ring 46 is arranged on the fixing plate 45, and the inner diameter of the lantern ring 46 is matched with the first handle 25; because the fingers of the affected hand have weak gripping ability, the glove body 41 is connected with the first handle 25 by the lantern ring 46, which does not affect the rotation of the wrist and can prevent the affected hand from falling off from the first handle 25.

The first handle 25 is hinged to the first push rod 24, a containing groove used for containing the first handle 25 is formed in the first push rod 24, the first handle 25 is contained in the containing groove when not used, on one hand, the first handle can be prevented from being damaged, and on the other hand, the occupied space can be saved.

More specifically, the workbench 1 is provided with a controller 8 and a first motor 5, an output end of the first motor 5 is connected with a second shaft pin 26, the controller 8 is electrically connected with the first motor 5, and the controller 8 is provided with a display screen; the display screen can show each item numerical value and training action, to the patient that partial arm strength lacks, carries out corresponding setting through controller 8, and accessible first motor 5 provides the helping hand for pushing away/drawing the first in command 25, helps the patient to accomplish rehabilitation training.

The upper limb rehabilitation training device provided by the embodiment can horizontally place the workbench 1, and when the upper limb rehabilitation training device is used, a user pushes the first handle 25 forwards and backwards to realize the bending and stretching of the fingers of the affected hand; the workbench 1 can also be vertically arranged, and when in use, the user can realize the bending and stretching of the fingers of the affected hand by pushing the first handle 25 up and down.

As a deformation of this embodiment, the piston 21 can also adopt a one-way sealing piston, similar to the inflator principle, and can push the first handle 25 for many times to inflate the air bag 44, so that the fingers of the affected hand are bent, the shunt 42 is provided with the exhaust valve, and the exhaust valve is opened to deflate, so that the fingers of the affected hand are straightened, and the patient can select different training modes according to the rehabilitation training requirements.

Example two

The technical solution provided by this embodiment is basically the same as the first embodiment, except that: referring to fig. 10, the driving mechanism includes a first push rod 24, one end of the first push rod 24 is connected with a first handle 25, a second shaft pin 26 is arranged on the first push rod 24, the second shaft pin 26 is hinged to a first hinge seat 11 arranged on the workbench 1, a gear 27 is arranged on the second shaft pin 26, the piston rod 22 is connected with a rack 28 meshed with the gear 27, the rack 28 is connected with the workbench 1 in a sliding manner through a sliding chute, when in use, a patient pushes/pulls the first handle 25 to rotate the gear 27, the gear 27 drives the piston rod 22 to move through the rack 28, and the piston rod 22 drives the piston 21 to reciprocate along the cylinder body 2, so that air suction/inflation of the pneumatic glove 4 is realized to complete finger flexion and extension actions; the driving mechanism can also be a cam arranged on the second shaft pin 26, the patient drives the cam to rotate through the first push rod 24, and the cam drives the piston rod 22 to move, so that air suction/inflation of the air cylinder is realized.

As a variation of this embodiment, please refer to fig. 11, the driving mechanism includes a first push rod 24, the first push rod 24 is installed on a rack 28, the workbench 1 is provided with a first hinge seat 11, the first hinge seat 11 is hinged with a second shaft pin 26, two ends of the second shaft pin 26 are respectively connected with a gear 27 and a second motor, the piston rod 22 is connected with the rack 28 engaged with the gear 27, the rack 28 is slidably connected with the workbench 1 through a chute, the first push rod 24 is symmetrically provided with a first switch 241 and a second switch 242, and the first switch 241 and the second switch 242 respectively control the second motor to rotate forward or backward; when in use, the fingers open the palm to push the first push rod 24 forwards, and the palm presses the first switch 241; or the fingers bend to hold the first push rod 24 and pull backwards, and the fingers press the second switch 242, so as to control the second motor to rotate forwards or backwards, thereby realizing air suction/inflation of the air cylinder.

EXAMPLE III

Referring to fig. 7-9, the present embodiment is substantially the same as the first embodiment in terms of technical solutions, except that: be connected with angle sensor 6 on the second axle round pin 26, be equipped with training auxiliary engine 7 on the workstation 1, training auxiliary engine 7 is including locating the articulated seat 71 of second on the workstation 1, the articulated seat 71 of second is equipped with servo motor 72, servo motor 72's output is connected with third axle round pin 73, third axle round pin 73 is articulated with the articulated seat 71 of second, and third axle round pin 73 installs on second push rod 74, be connected with second handle 75 on the second push rod 74, angle sensor 6 and servo motor 72 all with controller 8 electric connection.

Hand push of healthy side/draw first push rod 24, angle sensor 6 gathers first push rod 24 around second axis pin 26 pivoted angle information, and transmit angle information for controller 8, controller 8 sends control command and gives servo motor 72, control servo motor 72 rotates the same angle, thereby make second push rod 74 rotate the same angle around third axis pin 73, second handle 75 drives the affected side upper limbs through pneumatic gloves 4 and makes the action the same with healthy side affected limb, thereby realize the upper limbs, the finger moves jointly, can effectively promote patient's upper limbs and finger rehabilitation efficiency.

More specifically, a partition plate 13 is arranged on the workbench 1, and the partition plate 13 is arranged between the cylinder body 2 and the training auxiliary machine 7; the attention of the patient is focused on the movement of the affected hand to improve the training effect.

More specifically, the controller 8 is electrically connected with a myoelectric signal sensor and an electrical stimulation head, and the myoelectric signal sensor and the electrical stimulation head are both arranged on a muscle group to be trained by hands on the affected side; when the side-exercising hand pushes/pulls the first push rod 24 with force, the pneumatic glove 4 drives the affected side finger to bend and stretch, and when the myoelectric signal sensor detects a signal, the display screen displays the strength of the myoelectric signal; when the electromyographic signal sensor does not detect a signal, the controller 8 controls the electrical stimulation head to electrically stimulate the muscle group to be trained.

In this embodiment, the cylinder can be replaced by a pulling rope, two ends of the pulling rope are respectively connected to the first push rod 24 and five fingers of the glove body 41, and the first handle 25 is pushed/pulled by the healthy side, so that the first push rod 24 rotates to wind/unwind the pulling rope, and the fingers of the hand on the affected side are bent and stretched.

The use method of the training device for upper limb rehabilitation drives the finger of the affected hand to bend and stretch in a linkage way by the arm strength of the healthy hand comprises the following steps:

the air-actuated glove 4 is worn by the affected hand, and the healthy hand is arranged on the first handle 25;

training finger joint reaction: when the fingers of the healthy side hand are straightened and the palm pushes the first push rod 25 forwards, the air bag 44 is pumped by the air cylinder, and the pneumatic glove 4 drives the fingers of the affected side hand to be straightened;

when the fingers of the healthy hand bend and the palm holds the first handle 25 and pulls backwards, the air chamber 44 is inflated by the air cylinder, and the pneumatic glove 4 drives the fingers of the affected hand to bend;

the joint reaction is that when a certain part of the body performs resistance exercise or active force, involuntary muscle tension of the affected side muscle group is induced to be increased or exercise reaction occurs, the healthy side hand pushes the first handle 25, fingers of the affected side hand passively bend and stretch under the driving of the arm of the healthy side hand, the fingers of the healthy side hand and the fingers of the affected side hand keep the same action, nerve recovery of the fingers of the affected side hand can be promoted through the joint reaction, and the recovery effect is greatly improved.

Alternatively, the first and second electrodes may be,

training finger combined separation reaction: when the fingers of the healthy hand are straightened and the palm pushes the first handle 25 forwards, the air bag 44 is inflated by the air cylinder, and the pneumatic gloves 4 drive the fingers of the affected hand to bend;

when the fingers of the healthy hand are bent and the palm holds the first handle 25 and pulls backwards, the air cylinder exhausts the air bag 44, and the pneumatic glove 4 drives the fingers of the affected hand to be straightened.

The joint reaction is broken through the finger joint type separation reaction training, so that the free control of the finger at the affected side is realized.

The use method of the training device for upper limb rehabilitation drives the fingers of the affected hand to bend and stretch in a linkage way through the arm strength of the affected hand, and comprises the following steps:

the pneumatic glove 4 is worn by the hand at the affected side, and the pneumatic glove 4 is sleeved on the first handle 25 through the lantern ring 46;

the joint exercise reaction training of the affected hand: when the affected hand pushes the first handle 25 forwards, the air chamber 44 is pumped by the air cylinder, and the pneumatic glove 4 drives the fingers of the affected hand to straighten;

when the first handle 25 is pulled backwards by the affected hand, the air bag 44 is inflated by the air cylinder, and the fingers of the affected hand are driven to bend by the pneumatic gloves 4;

the first handle 25 is pushed by the hand at the affected side, the muscle group of the hand at the affected side contracts together to induce the fingers at the affected side to bend and stretch, the rehabilitation training can be carried out on the arm of the hand at the affected side, the rehabilitation training of the fingers at the affected side can be carried out while the arm of the hand at the affected side is trained, the nerve recovery of the arm and the fingers of the hand at the affected side can be promoted through the common movement, and the rehabilitation effect is greatly improved.

Alternatively, the first and second electrodes may be,

the affected side hands move together to separate the reaction training: when the affected hand pushes the first handle 25 forwards, the air chamber 44 is inflated by the air cylinder, and the fingers of the affected hand are driven by the pneumatic gloves 4 to bend;

when the first handle 25 is pulled backwards by the affected hand, the air chamber 44 is evacuated by the air cylinder, and the pneumatic glove 4 drives the fingers of the affected hand to straighten.

The joint reaction of the arm and the finger of the affected hand is broken through the joint movement type separation reaction training of the affected hand, so that the free control of the arm and the finger of the affected hand is realized.

An application method of a training device for upper limb rehabilitation drives the upper limb and fingers of an affected hand to simultaneously bend and stretch in linkage training through the arm strength of a healthy hand, and comprises the following steps:

the air-actuated glove 4 is worn by the affected hand, the healthy hand is arranged on the first handle 25, and the air-actuated glove 4 is sleeved on the second handle 75 through the lantern ring 46; the healthy side hand pushes the first push rod 24 forwards, and the angle sensor 6 acquires that the angle information of the first push rod 24 rotating around the second axis pin 26 is alpha; pulling the first push rod 24 backwards by the side exercising hand, and acquiring angle information of the first push rod 24 rotating around the second axis pin 26 as beta by the angle sensor 6;

upper limb joint reaction training: when the healthy hand pushes the first handle 25 forwards, the air cylinder sucks air from the air bag 44, the pneumatic gloves 4 drive the fingers of the affected hand to straighten, the angle sensor 6 collects the angle information alpha of the first push rod 24 rotating around the second axis pin 26 and transmits the angle information alpha to the controller 8, the controller 8 sends a control instruction to the servo motor 72, and the servo motor 72 drives the second push rod 74 to rotate around the third axis pin 73 in the same direction by the angle alpha;

when the healthy hand pulls the first handle 25 backwards, the air cylinder inflates the air bag 44, the pneumatic glove 4 drives the fingers of the affected hand to bend, the angle sensor 6 collects angle information beta of the first push rod 24 rotating around the second axis pin 26 and transmits the angle information beta to the controller 8, the controller 8 sends a control instruction to the servo motor 72, and the servo motor 72 drives the second push rod 74 to rotate around the third axis pin 73 in the same direction by the angle beta;

the angle sensor 6 collects the angle information of the rotation of the first handle 25, transmits the angle information to the controller 8, the controller 8 sends a control instruction to the servo motor 72 to control the servo motor 72 to rotate by the same angle, so that the joint movement of the arm and the finger of the healthy hand and the affected hand is realized, the nerve recovery of the arm and the finger of the affected hand is promoted through joint reaction, and the recovery efficiency of the upper limb and the finger of a patient can be effectively improved.

Alternatively, the first and second electrodes may be,

upper limb combined separation reaction training: when the healthy hand pushes the first handle 25 forwards, the air cylinder inflates the air bag 44, the pneumatic glove 4 drives the fingers of the affected hand to bend, the angle sensor 6 collects the angle information alpha of the first push rod 24 rotating around the second axis pin 26 and transmits the angle information alpha to the controller 8, the controller 8 sends a control instruction to the servo motor 72, and the servo motor 72 drives the second push rod 74 to rotate around the third axis pin 73 in the reverse direction by the angle alpha;

when the healthy hand pulls the first handle 25 backwards, the air cylinder sucks air from the air bag 44, the pneumatic glove 4 drives the fingers of the affected hand to straighten, the angle sensor 6 collects the angle information beta of the first push rod 24 rotating around the second axis pin 26 and transmits the angle information beta to the controller 8, the controller 8 sends a control instruction to the servo motor 72, and the servo motor 72 drives the second push rod 74 to rotate around the third axis pin 73 in the reverse direction by the angle beta.

Or

When the healthy hand pushes the first handle 25 forward, the air cylinder sucks air from the air bag 44, the pneumatic glove 4 drives the fingers of the affected hand to straighten, the angle sensor 6 collects the angle information alpha of the first push rod 24 rotating around the second axis pin 26 and transmits the angle information alpha to the controller 8, the controller 8 sends a control instruction to the servo motor 72, and the servo motor 72 drives the second push rod 74 to rotate around the third axis pin 73 in the reverse direction by the angle alpha.

When the healthy hand pulls the first handle 25 backwards, the air cylinder inflates the air bag 44, the pneumatic glove 4 drives the fingers of the affected hand to bend, the angle sensor 6 collects the angle information beta of the first push rod 24 rotating around the second axis pin 26 and transmits the angle information beta to the controller 8, the controller 8 sends a control instruction to the servo motor 72, and the servo motor 72 drives the second push rod 74 to rotate around the third axis pin 73 in the opposite direction by the angle beta.

Or

When the healthy hand pushes the first handle 25 forward, the air cylinder inflates the air bag 44, the pneumatic glove 4 drives the fingers of the affected hand to bend, the angle sensor 6 collects the angle information alpha of the first push rod 24 rotating around the second axis pin 26 and transmits the angle information alpha to the controller 8, the controller 8 sends a control instruction to the servo motor 72, and the servo motor 72 drives the second push rod 74 to rotate around the third axis pin 73 in the same direction by the angle alpha.

When the healthy hand pulls the first handle 25 backwards, the air chamber is pumped by the air cylinder 44, the pneumatic glove 4 drives the fingers of the affected hand to straighten, the angle sensor 6 collects the angle information beta of the first push rod 24 rotating around the second axis pin 26 and transmits the angle information beta to the controller 8, the controller 8 sends a control instruction to the servo motor 72, and the servo motor 72 drives the second push rod 74 to rotate around the third axis pin 73 by the angle beta in the same direction.

The joint reaction of the arms and fingers of the healthy side hand and the affected side hand is broken through the upper limb combined separation reaction training, so that the free control of the arms and fingers of the affected side hand is realized.

The above examples are only for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (12)

1. A training device for upper limb rehabilitation is characterized in that: including workstation (1), be equipped with the cylinder on workstation (1), the cylinder is including locating cylinder body (2) on workstation (1), be equipped with piston (21) in cylinder body (2), piston (21) are connected with piston rod (22), piston rod (22) are connected with actuating mechanism, cylinder body (2) are connected with pneumatic gloves (4) through hose (3), pneumatic gloves (4) are driven the cylinder by actuating mechanism through piston rod (22) and are bled/aerify, accomplish the finger and bend and stretch the action.

2. Training device for upper limb rehabilitation according to claim 1, characterized in that: the driving mechanism comprises a first push rod (24), one end of the first push rod (24) is connected with a first handle (25), the other end of the first push rod (24) is hinged to a piston rod (22) through a first shaft pin (23), a second shaft pin (26) is arranged on the first push rod (24), the second shaft pin (26) is hinged to a first hinge seat (11) arranged on the workbench (1), and the piston rod (22) is hinged to a piston (21).

3. Training device for upper limb rehabilitation according to claim 1, characterized in that: the driving mechanism comprises a first push rod (24), one end of the first push rod (24) is connected with a first handle (25), a second shaft pin (26) is arranged on the first push rod (24), the second shaft pin (26) is hinged to a first hinge seat (11) arranged on the workbench (1), a gear (27) is arranged on the second shaft pin (26), and the piston rod (22) is connected with a rack (28) meshed with the gear (27).

4. Training device for upper limb rehabilitation according to claim 2 or 3, characterized in that: a trainer for upper limbs is recovered pneumatic gloves (4) include gloves body (41), be equipped with shunt (42) on gloves body (41), the air inlet and hose (3) of shunt (42) are connected, and shunt tubes (43) that five roots of sensation correspond with the finger are connected respectively to the gas outlet of shunt (42), every shunt tubes (43) correspond finger joint department and are equipped with gasbag (44).

5. Training device for upper limb rehabilitation according to claim 4, characterized in that: the glove is characterized in that a fixing plate (45) is arranged at the position, corresponding to the palm center, of the glove body (41), a lantern ring (46) is arranged on the fixing plate (45), and the inner diameter of the lantern ring (46) is matched with the first handle (25).

6. Training device for upper limb rehabilitation according to claim 2, 3 or 5, characterized in that: be equipped with controller (8) and first motor (5) on workstation (1), the output and second axle round pin (26) of first motor (5) are connected, controller (8) and first motor (5) electric connection.

7. Training device for upper limb rehabilitation according to claim 6, characterized in that: be connected with angle sensor (6) on second axis pin (26), be equipped with training auxiliary engine (7) on workstation (1), training auxiliary engine (7) is including locating articulated seat of second (71) on workstation (1), articulated seat of second (71) is equipped with servo motor (72), the output of servo motor (72) is connected with third pivot (73), third pivot (73) are articulated with articulated seat of second (71), and third pivot (73) are installed on second push rod (74), be connected with second handle (75) on second push rod (74), angle sensor (6) and servo motor (72) all with controller (8) electric connection, be equipped with the display screen on controller (8).

8. Training device for upper limb rehabilitation according to claim 7, characterized in that: the controller (8) is electrically connected with the electromyographic signal sensor and the electrical stimulation head, and the electromyographic signal sensor and the electrical stimulation head are both arranged on a muscle group to be trained by hands on an affected side.

9. Training device for upper limb rehabilitation according to claim 7 or 8, characterized in that: a partition plate (13) is arranged on the workbench (1), and the partition plate (13) is arranged between the cylinder body (2) and the training auxiliary machine (7).

10. The use method of the training device for upper limb rehabilitation is characterized by comprising the following steps:

the affected hand wears the pneumatic gloves, and the healthy hand is arranged on the first handle;

when the fingers of the healthy hand stretch and the palm pushes the first handle forwards, the air cylinder exhausts air to the air bag, and the pneumatic gloves drive the fingers of the affected hand to stretch straight;

when the fingers of the healthy hand bend and the palm holds the first handle and pulls backwards, the air chamber is inflated by the air cylinder, and the pneumatic gloves drive the fingers of the affected hand to bend;

alternatively, the first and second electrodes may be,

when the fingers of the healthy hand stretch straight and the palm pushes the first handle forward, the air bag is inflated by the air cylinder, and the pneumatic gloves drive the fingers of the affected hand to bend;

when the fingers of the healthy hand are bent and the palm holds the first handle and pulls backwards, the air cylinder exhausts air from the air bag, and the pneumatic gloves drive the fingers of the affected hand to be straightened.

11. The use method of the training device for upper limb rehabilitation is characterized by comprising the following steps:

the pneumatic glove is worn on the hand at the affected side and sleeved on the first handle through a lantern ring;

when the affected hand pushes the first handle forwards, the air cylinder exhausts air from the air bag, and the pneumatic gloves drive the fingers of the affected hand to be straightened;

when the first handle is pulled backwards by the hand at the affected side, the air bag is inflated by the air cylinder, and the fingers of the hand at the affected side are driven by the pneumatic gloves to bend;

alternatively, the first and second electrodes may be,

when the affected hand pushes the first handle forwards, the air bag is inflated by the air cylinder, and the pneumatic gloves drive the fingers of the affected hand to bend;

when the first handle is pulled backwards by the hand at the affected side, the air chamber is pumped by the air cylinder, and the pneumatic gloves drive the fingers of the hand at the affected side to be straightened.

12. The use method of the training device for upper limb rehabilitation is characterized by comprising the following steps:

the air-actuated glove is worn by the hand at the affected side, the hand at the healthy side is arranged on the first handle, and the air-actuated glove is sleeved on the second handle through the lantern ring;

when the healthy hand pushes the first handle forwards, the air cylinder exhausts air from the air bag, the pneumatic gloves drive the fingers of the affected hand to straighten, the angle sensor acquires angle information alpha of the first push rod rotating around the second axis pin and transmits the angle information alpha to the controller, the controller sends a control instruction to the servo motor, and the servo motor drives the second push rod to rotate around the third axis pin in the same direction by the angle alpha;

when the healthy hand pulls the first handle backwards, the air cylinder inflates the air bag, the pneumatic gloves drive the fingers of the affected hand to bend, the angle sensor acquires angle information beta of the first push rod rotating around the second axis pin and transmits the angle information beta to the controller, the controller sends a control instruction to the servo motor, and the servo motor drives the second push rod to rotate around the third axis pin in the same direction by the angle beta;

alternatively, the first and second electrodes may be,

when the healthy hand pushes the first handle forwards, the air cylinder inflates the air bag, the pneumatic gloves drive the fingers of the affected hand to bend, the angle sensor acquires angle information alpha of the first push rod rotating around the second axis pin and transmits the angle information alpha to the controller, the controller sends a control instruction to the servo motor, and the servo motor drives the second push rod to reversely rotate around the third axis pin by the angle alpha;

when the healthy hand pulls the first handle backwards, the air cylinder exhausts air from the air bag, the pneumatic gloves drive the fingers of the affected hand to straighten, the angle sensor acquires angle information beta of the first push rod rotating around the second axis pin and transmits the angle information beta to the controller, the controller sends a control instruction to the servo motor, and the servo motor drives the second push rod to reversely rotate around the third axis pin by the angle beta;

or

When the healthy hand pushes the first handle forwards, the air cylinder exhausts air from the air bag, the pneumatic gloves drive the fingers of the affected hand to straighten, the angle sensor acquires angle information alpha of the first push rod rotating around the second axis pin and transmits the angle information alpha to the controller, the controller sends a control instruction to the servo motor, and the servo motor drives the second push rod to reversely rotate around the third axis pin by the angle alpha;

when the healthy hand pulls the first handle backwards, the air cylinder inflates the air bag, the pneumatic gloves drive the fingers of the affected hand to bend, the angle sensor acquires angle information beta of the first push rod rotating around the second axis pin and transmits the angle information beta to the controller, the controller sends a control instruction to the servo motor, and the servo motor drives the second push rod to reversely rotate around the third axis pin by an angle beta;

or

When the healthy hand pushes the first handle forwards, the air cylinder inflates the air bag, the pneumatic gloves drive the fingers of the affected hand to bend, the angle sensor acquires angle information alpha of the first push rod rotating around the second axis pin and transmits the angle information alpha to the controller, the controller sends a control instruction to the servo motor, and the servo motor drives the second push rod to rotate around the third axis pin in the same direction by the angle alpha;

when the healthy hand pulls the first handle backwards, the air cylinder exhausts air from the air bag, the pneumatic gloves drive the fingers of the affected hand to straighten, the angle sensor collects the angle information beta of the first push rod rotating around the second axis pin and transmits the angle information beta to the controller, the controller sends a control instruction to the servo motor, and the servo motor drives the second push rod to rotate around the third axis pin in the same direction by the angle beta.

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