CN115430110A

CN115430110A - Upper limb rehabilitation training system

Info

Publication number: CN115430110A
Application number: CN202211214602.8A
Authority: CN
Inventors: 熊杰; 李继才; 王道雨; 简卓
Original assignee: Shanghai Zhuodao Medical Technology Co ltd
Current assignee: Shanghai Zhuodao Medical Technology Co ltd
Priority date: 2022-09-30
Filing date: 2022-09-30
Publication date: 2022-12-06

Abstract

The invention provides an upper limb rehabilitation training system, which comprises: the supporting seat is provided with a supporting surface for supporting; the training arm is arranged on the supporting surface and is provided with a fixed end and a training end, the fixed end is fixedly arranged relative to the supporting surface, and the training end is movably arranged on the supporting surface; the interactive structure comprises a display part, and the display part is in communication connection with the training arm so as to display the current training position of the training arm through the display part when the training arm moves. Through the technical scheme provided by the invention, the technical problem that the patient cannot independently perform upper limb rehabilitation training in the prior art can be solved.

Description

Upper limb rehabilitation training system

Technical Field

The invention relates to the technical field of upper limb rehabilitation training systems, in particular to an upper limb rehabilitation training system.

Background

At present, 85% of stroke survivors have upper limb dysfunction problems according to data statistics, and the number is expanding day by day. The main causes of the functional disorder of the hands and upper limbs of the human body include cerebral palsy, traffic accidents, industrial injuries and the like, in particular to the stroke in spinal cord injury and cerebrovascular diseases. In addition to the surgical and medical treatments, patients with upper limb dysfunction can also fundamentally improve the upper limb dysfunction by means of a rehabilitation training plan prepared by a rehabilitation therapist, so that the patients gradually return to a healthy state.

The rehabilitation training device in the prior art can effectively help a patient to complete rehabilitation training, so that the rehabilitation effect and the life quality of the patient can be improved, and the patient can be helped to return to a family and return to life as early as possible.

However, the existing rehabilitation apparatus requires the patient to train with the assistance of the rehabilitation engineer or family person to confirm whether the preset training effect is achieved with the assistance of the rehabilitation engineer or family person. Like this, can increase recovered teacher's working strength on the one hand to bring very big inconvenience for family, on the other hand, also brought certain restriction to patient's recovery.

Disclosure of Invention

The invention mainly aims to provide an upper limb rehabilitation training system to solve the technical problem that a patient cannot independently perform upper limb rehabilitation training in the prior art.

In order to achieve the above object, the present invention provides an upper limb rehabilitation training system, comprising: the supporting seat is provided with a supporting surface; the training arm is arranged on the supporting surface and is provided with a fixed end and a training end, the fixed end is fixedly arranged relative to the supporting surface, and the training end is movably arranged on the supporting surface; the interactive structure comprises a display part, and the display part is in communication connection with the training arm so as to display the current training position of the training arm through the display part when the training arm moves.

Further, the upper limb rehabilitation training system further comprises: the holding rod structure is connected with the training end of the training arm so as to drive the training end to move through the holding rod structure when the upper limb rehabilitation training system is in an active training mode or drive the holding rod structure to move through the training end when the upper limb rehabilitation training system is in a passive training mode.

Further, the grip structure includes: the rod body and the air bag are arranged on the rod body; the air pressure detection piece is arranged on the rod body and used for detecting the air pressure of the air bag; the air pressure detection piece is connected with the display part of the interactive structure so as to transmit the detected grip force condition to the display part.

Further, the upper limb rehabilitation training system further comprises: the arm support is connected with the training end of the training arm, and the arm support and the rod body are connected at a preset angle; and/or, the holding rod structure further comprises: the mounting seat is mounted on the training end; the connecting arm is rotatably arranged on the mounting seat by taking the central shaft of the rod body as a rotating shaft; the rod body is rotatably arranged on the connecting arm by taking the preset shaft as a rotating shaft, and the preset shaft and the central shaft of the rod body are arranged at a preset angle.

Further, the grip structure further comprises: the angle detection piece is arranged on the connecting arm and used for detecting the rotating angle of the rod body relative to the connecting arm, and the angle detection piece is connected with the display part of the interactive structure; when the upper limb rehabilitation training system is in an active training mode, the angle detection piece transmits the detected angle condition to the display part.

Further, the grip structure further comprises: the rotary driving part is arranged on the connecting arm and connected with the rod body, the rotary driving part drives the rod body to rotate, and the rotary driving part is connected with the display part of the interactive structure; when the upper limb rehabilitation training system is in the passive training mode, the rotary driving piece transmits the condition of the driving corner to the display part.

Furthermore, the holding rod structure is provided with a mounting end and a free end which are oppositely arranged, and the mounting end is used for being mounted on the training end; the upper limb rehabilitation training system further comprises: the force detection piece is arranged at the mounting end and is used for detecting the acting force condition of the holding rod structure; the force detection member is connected with the display part of the interactive structure so as to transmit the detected acting force condition to the display part.

Further, the upper limb rehabilitation training system further comprises: the vibrating piece is arranged on the training end and is positioned between the training end and the holding rod structure; and the control piece is connected with the vibrating piece and controls the vibrating piece to vibrate according to the training condition of the user in the training.

Further, the interactive structure further comprises: the eye tracker is used for monitoring a sight focal point of a user in a training process and is connected with a control piece of an upper limb rehabilitation training system; when the eye tracker monitors that the focal point of the sight of the user is not concentrated on the interactive structure, the control element controls the prompting element of the upper limb rehabilitation training system to send a prompting signal.

Further, the interactive structure further comprises: the posture detection piece is used for monitoring the posture of the side-strengthening limb of the user in the training process and is connected with the control piece of the upper limb rehabilitation training system; when the posture detection piece monitors that the posture of the healthy side limb of the user does not accord with the preset posture, the control piece controls the prompt piece of the upper limb rehabilitation training system to send out a prompt signal.

Further, the training arm comprises: the first connecting rod forms a fixed end; the second connecting rod and the third connecting rod are respectively hinged with two ends of the first connecting rod; the fourth connecting rod is hinged with one end of the second connecting rod, which is far away from the first connecting rod; the fifth connecting rod is hinged with one end of the third connecting rod, which is far away from the first connecting rod; wherein, the end of the fourth connecting rod far away from the second connecting rod is hinged with the end of the fifth connecting rod far away from the third connecting rod to form a training end. Further, when the upper limb rehabilitation training system is in an active training mode, a target position of a training end is displayed on a display part of the interactive structure; the upper limb rehabilitation training system further comprises: the position detection piece is used for detecting whether the current position of the training end is superposed with the target position; the control part, the position detection part and the interaction structure are connected with the control part; when the position detection piece detects that the current position of the training end is overlapped with the target position, the control piece controls the display part to display the operation score of the user.

By applying the technical scheme of the invention, the interactive structure interacting with the training arm is arranged, and the current position of the training end on the supporting surface is limited by the display part of the interactive structure, so that the position of the training end can be conveniently and clearly known by a patient, the corresponding rehabilitation training can be conveniently carried out through the interactive scene provided by the interactive structure, the interactive training is not required to be assisted by a rehabilitation teacher, the rehabilitation training can be independently carried out, and the independent participation desire of the patient is also improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiment(s) of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a structural diagram illustrating one direction of an upper limb rehabilitation training system provided according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram illustrating another direction of the upper limb rehabilitation training system provided according to the embodiment of the invention;

FIG. 3 is a schematic structural diagram of a support seat provided in accordance with an embodiment of the present invention;

figure 4 illustrates a side view of an upper limb rehabilitation training system provided in accordance with an embodiment of the present invention;

fig. 5 is a partial structural diagram of an upper limb rehabilitation training system provided according to an embodiment of the invention;

FIG. 6 is a partial schematic diagram of a grip structure provided in accordance with an embodiment of the present invention.

Wherein the figures include the following reference numerals:

10. a supporting seat; 11. a support surface;

20. a training arm; 21. a fixed end; 22. a training end; 23. a second link; 24. a third link; 25. a fourth link; 26. a fifth link;

30. a grip structure; 31. a rod body; 32. an air bag; 33. an air pressure detecting member; 34. a mounting seat; 35. a connecting arm; 36. an angle detection member;

40. an interactive structure; 41. a display unit; 42. an eye tracker; 43. an attitude detecting member;

50. an arm support;

60. a force detection member;

70. a vibrating member;

80. a control member;

90. a support frame.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

As shown in fig. 1 to 6, an embodiment of the present invention provides an upper limb rehabilitation training system including: the training arm comprises a support seat 10, a training arm 20, a holding rod structure 30 and an interaction structure 40, wherein the support seat 10 is provided with a support surface 11 for supporting; the training arm 20 is supported on the support surface 11, the training arm 20 having a fixed end 21 and a training end 22, the fixed end 21 being fixedly arranged with respect to the support surface 11, the training end 22 being movably arranged on the support surface 11. The grip structure 30 is coupled to the training end 22 of the training arm 20 to move the training end 22 via the grip structure 30 when the upper limb rehabilitation training system is in the active training mode or to move the grip structure 30 via the training end 22 when the upper limb rehabilitation training system is in the passive training mode. The interactive structure 40 is used for interacting with the training arm 20 and the display portion 41 of the interactive structure 40 is used for displaying the current position of the training end 22 on the support surface 11.

Adopt the upper limbs rehabilitation training system that this embodiment provided, carry out interactive structure 40 through setting up and training arm 20, and the display part 41 through interactive structure 40 restricts the current position of training end 22 on holding surface 11, the patient of can being convenient for is clear the position that training end 22 is located, also be convenient for carry out the rehabilitation training that corresponds through the interactive scene that interactive structure 40 provided, do not need the assistance interactive training of recovered teacher, thereby can independently carry out the rehabilitation training, patient's autonomic participation wish has also been improved. Meanwhile, the patient can select an active training mode or a passive training mode according to the actual situation so as to improve the rehabilitation training effect through different training modes. In addition, in the embodiment, the training arm 20 is supported on the supporting surface 11, so that the patient is always supported by the supporting surface 11 in the training process of holding the holding rod structure 30, the stability, reliability and safety of the rehabilitation training are improved, and the patient can independently perform the upper limb rehabilitation training.

In this embodiment, the upper limb rehabilitation training system further includes an arm support 50, the arm support 50 is connected to the training end 22 of the training arm 20, and the arm support 50 is connected to the grip structure 30 at a predetermined angle. Adopt such structure setting, can provide the support for patient's arm through arm support 50, increase the operating stability of patient when rehabilitation training, be convenient for make the patient better with effort in the holding rod structure 30 to carry out initiative training or passive training through holding rod structure 30, improve recovered effect.

Specifically, the grip structure 30 includes a rod 31, an air bag 32, and an air pressure detector 33, wherein the air bag 32 is disposed on the rod 31, the air pressure detector 33 is disposed on the rod 31, and the air pressure detector 33 is used for detecting the air pressure of the air bag 32. The air pressure detecting member 33 is connected to the display portion 41 of the interactive structure 40 to transmit the detected grip strength condition to the display portion 41. Adopt such structure setting, can be convenient for accurately detect the change of patient's grip condition to show the change of grip condition to display part 41 on, thereby be convenient for the patient to know the grip condition of oneself in real time, also be convenient for carry out the adjustment of adaptability according to current grip condition. Specifically, can be provided with the interactive scene of using of multiple difference on the interactive structure 40, the different interactive scenes of using can correspond different grip conditions, and the patient needs to use the size of the self grip according to the interaction of difference and uses the scene adjustment to carry out the training that the grip was adjusted to the patient.

In this embodiment, the grip structure 30 further comprises a mounting base 34 and a connecting arm 35, the mounting base 34 is mounted on the training end 22, and the connecting arm 35 is rotatably disposed on the mounting base 34 around the central axis of the rod 31. The rod 31 is rotatably disposed on the connecting arm 35 by using a predetermined axis as a rotation axis, and the predetermined axis and the central axis of the rod 31 are disposed at a predetermined angle. With such a structural arrangement, it is on the one hand possible to facilitate the entire rotatable arrangement of the grip structure 30 at the training end 22 and on the other hand to facilitate the rotatable arrangement of the lever body 31 on the connecting arm 35. Because the center pin of presetting axle and the body of rod 31 is the angle setting of presetting for the rotation direction of the body of rod 31 is different rotation direction with the rotation direction of linking arm 35, thereby makes holding rod structure 30 can realize not equidirectional rotation, has improved the flexibility of operation of holding rod structure 30 itself, also be convenient for with the actual operation looks adaptation of user (user in this embodiment mainly indicates the patient), in order to realize carrying out the training of multiple difference to the patient. Specifically, the preset axis and the central axis of the rod body 31 may be vertically disposed.

In the present embodiment, the upper limb rehabilitation training system has an angle detection function in both the active training mode and the passive training mode, and the result of the angle detection is displayed on the display unit 41, so that the user can easily obtain the result of the angle detection.

Specifically, the grip structure 30 in this embodiment further includes an angle detecting element 36, the angle detecting element 36 is disposed on the connecting arm 35, the angle detecting element 36 is used for detecting the rotation angle of the lever body 31 relative to the connecting arm 35, and the angle detecting element 36 is connected to the display portion 41 of the interactive structure 40. Wherein, when the upper limb rehabilitation training system is in the active training mode, the angle detection part 36 transmits the detected angle condition to the display part 41. By adopting the structure, the angle change condition of the patient under the active training mode can be accurately detected through the angle detection piece 36, and the patient can be prompted to carry out adaptive adjustment according to the current angle change condition. Specifically, the interactive structure 40 may be provided with a plurality of different interactive usage scenarios, different interactive usage scenarios may correspond to different grip conditions, and the patient needs to adjust the angle according to different interactive usage scenarios to train the wrist flexibility of the patient.

In this embodiment, the grip structure 30 further includes a rotation driving member disposed on the connecting arm 35, the rotation driving member is connected to the rod 31, the rotation driving member drives the rod 31 to rotate, and the rotation driving member is connected to the display portion 41 of the interactive structure 40. Wherein, when the upper limb rehabilitation training system is in the passive training mode, the rotation driving element transmits the condition of the driving rotation angle to the display part 41. Adopt such structure setting, can be convenient for when passive training mode, drive the body of rod 31 through rotating the driving piece and rotate to the training to patient's wrist is realized, in order to improve patient's wrist flexibility ratio.

Specifically, the rotary driving member may be a driving motor, the driving motor itself has an angle detection function, and the driving motor can detect the size of the rotation angle in real time in the driving process and upload the detected angle to the display portion 41.

Specifically, the grip structure 30 in this embodiment has oppositely disposed mounting and free ends, the mounting end for mounting on the training end 22; the upper limb rehabilitation training system further comprises a force detection member 60, the force detection member 60 is mounted at the mounting end, and the force detection member 60 is used for detecting the acting force condition of the grip structure 30. The force detector 60 is connected to the display portion 41 of the interactive structure 40 to transmit the detected force condition to the display portion 41. By adopting the structure, the whole acting force condition of the holding rod structure 30 can be conveniently detected through the force detection piece 60, and the patient can be conveniently prompted to carry out adaptive adjustment through the interaction structure 40. Specifically, different interactive use scenes can be set on the interactive structure 40, different interactive use scenes can correspond to different acting force conditions, and the patient needs to adjust the force according to different interactive use scenes so as to perform adaptive training on the upper limbs of the patient.

In this embodiment, the upper limb rehabilitation training system further comprises a vibrating member 70 and a control member 80, the vibrating member 70 is disposed on the training end 22, and the vibrating member 70 is located between the training end 22 and the grip structure 30. The control member 80 is connected to the vibrating member 70, and the control member 80 controls the vibrating member 70 to vibrate according to the training condition of the user during training. With such a structure, when the collecting member collects that the user stops training, the control member 80 can control the vibrating member 70 to send out a vibration signal according to the actual training situation, so as to prompt the user to train. Alternatively, when in the muscle relaxation mode, the control member 80 controls the vibration member 70 to vibrate to achieve relaxation of the upper limbs by the vibration of the vibration member 70.

Specifically, the upper limb rehabilitation training system in this embodiment further includes a control element 80 and a prompt element, the interactive structure 40 further includes an eye tracker 42 for monitoring a focal point of a line of sight of the user during the training process, and the eye tracker 42 is connected to the control element 80; when the eye tracker 42 detects that the focal point of the user's gaze is not centered on the training end 22 and/or the interactive structure 40, the control 80 controls the prompting element to emit a prompting signal. Adopt such structure setting, can be convenient for detect user's training concentration degree through eye movement instrument 42 to detect user's concentration degree and point out through the suggestion piece when lower, with the validity of guaranteeing the training, also be convenient for guarantee the security of training. Specifically, the prompting component in this embodiment may send out a signal such as a prompting sound or a prompting light corresponding to insufficient concentration.

In this embodiment, the upper limb rehabilitation training system further includes a control component 80 and a prompt component, the interactive structure 40 further includes a posture detection component 43 for monitoring the posture of the healthy side limb of the user in the training process, and the posture detection component 43 is connected with the control component 80; when the posture detecting part 43 detects that the posture of the healthy side limb of the user does not accord with the preset posture, the control part 80 controls the prompting part to send out a prompting signal. Adopt such structure setting, can be convenient for real-time detection patient's good side gesture to when good side gesture is not conform to predetermined gesture, send cue signal through the suggestion piece, with validity and the security of ensureing the training. Specifically, the prompting component can emit a prompting sound or a prompting light signal corresponding to the healthy side posture which does not accord with the preset posture.

Specifically, the training arm 20 in the present embodiment includes a first link, which forms the fixed end 21, a second link 23, a third link 24, a fourth link 25, and a fifth link 26. The second connecting rod 23 and the third connecting rod 24 are respectively hinged with two ends of the first connecting rod; the fourth connecting rod 25 is hinged with one end of the second connecting rod 23 far away from the first connecting rod; the fifth link 26 is hinged with one end of the third link 24 far away from the first link. Wherein the end of the fourth link 25 remote from the second link 23 is hinged to the end of the fifth link 26 remote from the third link 24 and forms the training end 22. With such a structural arrangement, the training arm 20 is simple in structure and flexible in action, and can move to any position on the supporting surface 11. When the active training mode is adopted, the patient operates the grip structure 30 to perform adaptive operation through the training end 22, so as to realize the random movement of the training end 22 in the supporting surface 11; when the passive training mode is used, the second link 23 and the first link can be driven to rotate, and the third link 24 and the first link can be driven to rotate, so that the training end 22 can be moved freely in the supporting surface 11.

In this embodiment, when the upper limb rehabilitation training system is in the active training mode, the target position of the training end 22 is displayed on the display portion 41 of the interactive structure 40. The upper limb rehabilitation training system further comprises a position detection element for detecting whether the current position of the training end 22 coincides with the target position, and a control element 80. Both the position detection member and the interaction structure 40 are connected to the control member 80; when the position detecting member detects that the current position of the training terminal 22 coincides with the target position, the control member 80 controls the display of the operation score of the user on the display portion 41. Therefore, the training interaction scene of the user can be conveniently provided, the specific rehabilitation training can be conveniently carried out on the user, the training effectiveness of the patient is improved through the targeted training, and the rehabilitation speed is improved.

Specifically, when the position detection member detects that the current position of the training terminal 22 does not coincide with the target position, the control member 80 may control the display portion 41 to display a signal for continuing the training, or the control member 80 may control the display portion 41 to display a cue operation signal or the like.

In this embodiment, upper limbs rehabilitation training system still includes support frame 90, and supporting seat 10 supports on support frame 90, and support frame 90 sets up with liftable, and support frame 90 goes up and down in order to drive holding surface 11 and go up and down to be convenient for adapt to different patients' height, in order to improve the comfort level of training.

The upper limb rehabilitation training system in the embodiment further comprises an electrical system, and the electrical system compresses an electrical circuit by adopting an integrated design, so that the signal transmission stability is improved, and the storage space can be saved to a certain extent. The training arm 20 is designed in a five-bar structure, and the design ensures that the training arm 20 can move along any track on the equipment body. The training arm 20 comprises two rotating parts (two rotating parts can be used, the two rotating parts respectively drive the hinged end of the second connecting rod 23 and the hinged end of the first connecting rod and the hinged end of the third connecting rod 24 and the hinged end of the first connecting rod to rotate), and the arm support 50 is rotatably arranged at the tail end of the training arm 20 and moves along any track along with the training arm 20. The turning element turns the training arm 20 relative to the device.

The force detecting member 60 in this embodiment may be a three-dimensional force sensor, the vibrating member 70 may be a vibrating motor, and both the three-dimensional force sensor and the vibrating motor are fixedly installed below the mounting seat 34. The air pressure detecting member 33 is an air pressure sensor, the angle detecting member 36 is an angle sensor, and the air pressure sensor and the angle sensor are fixedly mounted on the grip structure 30. The feedback component can collect and feed back various training data of the patient in real time, specifically: the three-dimensional force sensor can monitor the exertion condition of a patient in the training process in real time, on one hand, the training state of the patient can be adjusted, on the other hand, the three-dimensional force sensor can be used as an index actively participating in the training of the patient, and data can be displayed on the interactive assembly. The vibration motor can provide vibration feedback when a certain result is obtained in the training of a patient or the vibration motor does not actively participate in a period of time, so that the willingness and training experience of the patient in active participation are enhanced, and the treatment effect is improved. The grip condition of the patient in the training process can be monitored in real time through the air pressure sensor, and the patient can actively train the grip of the patient through the air pressure sensor and the interaction assembly in the training process. The angle sensor can monitor the angle condition of the wrist joint of the patient in the training process in real time, and the patient can carry out active training of pronation and supination on the wrist joint of the patient through the angle sensor and the interaction assembly in the training process. Particularly, if the angle sensor is replaced by a motor, passive training of pronation and supination can be performed on the wrist joint.

Specifically, the interactive structure 40 in this embodiment includes a display screen (i.e., the display unit 41), an eye tracker 42, and a camera (the gesture detection unit 43), and can perform human-computer interaction on the patient in multiple dimensions such as vision, hearing, sight line, and gesture, so as to enhance the willingness and training experience of active participation of the patient and improve the treatment effect. The eye tracker 42 can monitor the sight focal point of the patient in the training process in real time, and improve the concentration degree of the patient in the training process, so that the patient can complete the training more smoothly under the condition of lacking doctors or accompanying with family members. The camera can real-time supervision patient trains the gesture of the side limbs of being good for in-process, and the cooperation interactive scene carries out the combination training of healthy and sick side to the patient, promotes treatment.

In this embodiment, during rehabilitation training, the patient holds the grip structure 30 on the training arm (i.e. the training arm 20), and the arm of the patient is placed in the arm support 50 and moves along with the arm support 50 according to the interactive interface on the display screen.

In the active training mode, the patient actively applies force to move along a specified track (any track), when the patient moves to a specified position, the patient can open or hold the palm, the palm can be interacted with the interface through the air pressure sensor (according to different scenes of the interface, the wrist joint of the patient can be rotated forwards or suspended backwards, the wrist joint of the patient can be interacted with the interface through the angle sensor, the angle sensor can be replaced by a motor in the same way), the eye tracker 42 captures the sight focus of the patient in the training process, the training concentration degree can be recorded in real time, the health-care posture can be captured by the camera, and the patient can train with the affected side to move jointly.

In the passive training mode, the patient is carried by the arm support 50 to move along a specified track (any track), when the patient moves to a specified position, the patient can open or hold the palm, the air pressure sensor interacts with the interface (according to different interface scenes, the wrist joint of the patient can rotate forwards or hang backwards, the angle sensor interacts with the interface through the angle sensor, the angle sensor is replaced by a motor in the same way), the eye tracker 42 captures the sight focus of the patient in the training process, records the training concentration degree in real time, and can train together with the passive mode (the patient trains the cantilever to move after seeing a target point), the camera captures the posture of the healthy side, and can train with the affected side in a combined manner.

From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects: the upper limb rehabilitation training system can meet the training range of most people and can realize any track, and the training arm 20 for external training has a simple structure and can effectively avoid potential safety hazards (hand clamping and the like); in addition, the upper limb rehabilitation training system comprises multi-dimensional feedback of force, vibration, air pressure, angle, sight line, posture and the like, improves the autonomous participation desire of the patient, enhances the training effectiveness, and saves human resources to a certain extent.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present application, it is to be understood that the directions or positional relationships indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the directions or positional relationships shown in the drawings, and are for convenience of description and simplicity of description only, and in the case of not making a reverse description, these directional terms do not indicate and imply that the device or element being referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be construed as limiting the scope of the present application; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

For ease of description, spatially relative terms such as "over … …", "over … …", "over … …", "over", etc. may be used herein to describe the spatial positional relationship of one device or feature to another device or feature as shown in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, so that the scope of the present application is not to be construed as being limited.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An upper limb rehabilitation training system, comprising:

a support seat (10), the support seat (10) having a support surface (11);

a training arm (20) mounted on the support surface (11), the training arm (20) having a fixed end (21) and a training end (22), the fixed end (21) being fixedly arranged relative to the support surface (11), the training end (22) being movably arranged on the support surface (11);

an interactive structure (40), the interactive structure (40) comprising a display portion (41), the display portion (41) being communicatively connected to the training arm (20) to display a current training position of the training arm (20) through the display portion (41) when the training arm (20) is moved.

2. The upper limb rehabilitation training system according to claim 1, further comprising:

the holding rod structure (30) is connected with the training end (22) of the training arm (20) so that the training end (22) is driven to move by the holding rod structure (30) when the upper limb rehabilitation training system is in an active training mode or the holding rod structure (30) is driven to move by the training end (22) when the upper limb rehabilitation training system is in a passive training mode.

3. The upper limb rehabilitation training system according to claim 2, wherein the grip structure (30) comprises:

a rod body (31) and an airbag (32), the airbag (32) being disposed on the rod body (31);

the air pressure detection piece (33) is arranged on the rod body (31), and the air pressure detection piece (33) is used for detecting the air pressure of the air bag (32); the air pressure detecting piece (33) is connected with a display part (41) of the interactive structure (40) so as to transmit the detected grip strength condition to the display part (41).

4. The upper limb rehabilitation training system of claim 3,

the upper limb rehabilitation training system further comprises: the arm support (50) is connected with the training end (22) of the training arm (20), and the arm support (50) is connected with the rod body (31) at a preset angle; and/or the presence of a gas in the gas,

the grip structure (30) further comprises:

a mounting (34), said mounting (34) mounted on said training end (22);

the connecting arm (35) is arranged on the mounting seat (34) in a rotatable mode by taking the central shaft of the rod body (31) as a rotating shaft;

the rod body (31) is rotatably arranged on the connecting arm (35) by taking a preset shaft as a rotating shaft, and the preset shaft and the central shaft of the rod body (31) are arranged at a preset angle.

5. The upper limb rehabilitation training system of claim 4, wherein the grip structure (30) further comprises:

an angle detecting member (36) disposed on the connecting arm (35), the angle detecting member (36) being configured to detect a rotation angle of the lever body (31) relative to the connecting arm (35), the angle detecting member (36) being connected to a display portion (41) of the interactive structure (40);

wherein the angle detection member (36) transmits the detected angle condition to the display portion (41) when the upper limb rehabilitation training system is in the active training mode.

6. The upper limb rehabilitation training system of claim 4, wherein the grip structure (30) further comprises:

the rotating driving part is arranged on the connecting arm (35), is connected with the rod body (31), drives the rod body (31) to rotate, and is connected with the display part (41) of the interactive structure (40);

when the upper limb rehabilitation training system is in a passive training mode, the rotary driving piece transmits the condition of the driving rotation angle to the display part (41).

7. The upper limb rehabilitation training system of claim 2, wherein the grip structure (30) has oppositely disposed mounting and free ends, the mounting end being adapted to be mounted on the training end (22); the upper limb rehabilitation training system further comprises:

a force detection member (60) mounted at the mounting end, the force detection member (60) being for detecting an applied force condition of the grip structure (30); the force detection element (60) is connected to a display (41) of the interaction structure (40) in order to transmit the detected force situation to the display (41).

8. The upper limb rehabilitation training system according to claim 2, further comprising:

a vibrating member (70) disposed on the training end (22), the vibrating member (70) being located between the training end (22) and the grip structure (30);

the control part (80), the control part (80) is connected with the vibrating part (70), and the control part (80) controls the vibrating part (70) to vibrate according to the training condition of a user in training.

9. The upper limb rehabilitation training system according to claim 1, wherein the interactive structure (40) further comprises:

the eye tracker (42) is used for monitoring a sight focal point of a user in a training process, and the eye tracker (42) is connected with a control part (80) of the upper limb rehabilitation training system; when the eye tracker (42) monitors that the sight focal point of the user is not concentrated on the interactive structure (40), the control element (80) controls the prompting element of the upper limb rehabilitation training system to send out a prompting signal.

10. The upper limb rehabilitation training system according to claim 1, wherein the interactive structure (40) further comprises:

the posture detection piece (43) is used for monitoring the posture of the healthy side limb of the user in the training process, and the posture detection piece (43) is connected with the control piece (80) of the upper limb rehabilitation training system; when the posture detection piece (43) monitors that the posture of the side-exercising limb of the user does not accord with the preset posture, the control piece (80) controls the prompt piece of the upper limb rehabilitation training system to send a prompt signal.

11. The upper limb rehabilitation training system of claim 1, wherein the training arm (20) comprises:

a first link forming the fixed end (21);

the second connecting rod (23) and the third connecting rod (24), and the second connecting rod (23) and the third connecting rod (24) are respectively hinged with two ends of the first connecting rod;

the fourth connecting rod (25) is hinged with one end, away from the first connecting rod, of the second connecting rod (23);

a fifth connecting rod (26) is hinged with one end of the third connecting rod (24) far away from the first connecting rod;

wherein one end of the fourth connecting rod (25) far away from the second connecting rod (23) is hinged with one end of the fifth connecting rod (26) far away from the third connecting rod (24) and forms a training end (22).

12. The upper limb rehabilitation training system according to claim 2, wherein the target position of the training terminal (22) is displayed on the display portion (41) of the interactive structure (40); the upper limb rehabilitation training system further comprises:

a position detection element for detecting whether the current position of the training end (22) coincides with the target position;

a control element (80), said position detection element and said interaction structure (40) being connected to said control element (80); when the position detection member detects that the current position of the training end (22) coincides with the target position, the control member (80) controls the display of the operation score of the user on the display part (41).