CN115813715A - Arm rehabilitation training device and gravity compensation calculation method thereof - Google Patents

Abstract

The invention relates to the technical field of medical instruments, and particularly provides an arm rehabilitation training device and a gravity compensation calculation method thereof, wherein the arm rehabilitation training device comprises: the rotating assembly comprises a first driving motor, a supporting and adjusting frame, a first torque sensor and a rotating fixing piece, wherein the first driving motor is installed on the supporting and adjusting frame, the first torque sensor is used for being installed on the supporting and adjusting frame and fixedly connected with an output shaft of the first driving motor, and the rotating fixing piece is used for being installed on the first torque sensor so as to fix the wrist; the bending and stretching assembly comprises a second driving motor, a fixing frame, a second torque sensor and a bending and stretching fixing piece; the first torque sensor and the second torque sensor are arranged, so that the training mode of the device can be adjusted to a passive mode or an active mode according to the needs of a user, the device can better adapt to two different training modes of flexion and extension and rotation, and the user recovery can be accelerated.

Description

An arm rehabilitation training device and its gravity compensation calculation method

technical field

The invention relates to the technical field of medical devices, in particular to an arm rehabilitation training device and a gravity compensation calculation method of the device.

Background technique

According to the national fitness survey, the number of people who regularly participate in sports in my country has reached one-third of the total population, and the number is huge, but 40% of them have experienced different degrees of sports trauma, and scientific research is needed Rehabilitation to help patients return to their pre-injury physical level and prevent re-injury.

The most common upper extremity injuries in sports injuries include injuries to the wrist, elbow and shoulder joints. The elbow joint is a compound joint composed of three joints, the humeroradial joint, the humerulnar joint and the upper ulnar radiolar joint, which are enclosed in a joint capsule. It connects the upper arm and the forearm and coordinates the movement of the shoulder joint, forearm and wrist joint. an important joint. Under the action of the upper arm and forearm muscles, the elbow joint can realize rotation around two axes of motion, that is, flexion and extension around the frontal axis and internal and external rotation around the vertical axis. Once the elbow joint is injured, its movement function is limited, which will seriously affect the daily life and work of the patient.

The existing elbow joint rehabilitation training device relies on the forearm arm rest and straps to fix the patient's forearm, and the forearm arm rest drives the forearm to move; the training mode of this kind of device is basically passive movement, the function is single, and the users of this kind of device are different The adaptive characteristic is poor, and it cannot be well adapted to the two different training processes of flexion, extension and rotation.

Contents of the invention

The present invention aims to solve the problem that the training mode of the existing elbow joint rehabilitation training device is basically passive movement, single function, and the user difference adaptive characteristic of this kind of device is poor.

In order to solve the above problems, the present invention proposes the following technical solutions:

An arm rehabilitation training device, comprising: a rotating assembly including a first drive motor, a support adjustment frame, a first torque sensor and a rotation fixture, the first drive motor is installed on the support adjustment frame, the first The torque sensor is used to be installed on the support adjustment frame and fixedly connected with the output shaft of the first drive motor, and the rotating fixture is used to be installed on the first torque sensor to fix the wrist;

The flexion and extension assembly includes a second drive motor, a fixed frame, a second torque sensor and a flexion and extension fixture, the second drive motor is installed on the fixed frame, and the second torque sensor is used to be installed on the fixed frame And fixedly connected with the output shaft of the second driving motor, the flexion and extension fixing part is used to be installed on the fixing frame to fix the forearm, and the flexion and extension fixing part is connected with the support adjustment frame;

The fixing assembly includes an angle adjusting part and an upper arm fixing part, the upper arm fixing part is connected to the fixing frame at an angle through the angle adjusting part, and the upper arm fixing part is used to fix the upper arm;

The control module includes a control circuit board, a motor driver and an attitude sensor, the attitude sensor is arranged on the upper arm fixture, and the two motor drivers are respectively connected to the first drive motor and the second drive motor , the first torque sensor, the second torque sensor, the motor driver and the attitude sensor are all communicatively connected to the control circuit board, so as to transmit the collected data to the control circuit board for data processing.

Compared with the prior art, the arm rehabilitation training device provided by the present invention has, but is not limited to, the following beneficial effects:

The rotation fixing part in the rotation assembly is used to fix on the wrist, the flexion and extension fixing part in the flexion and extension assembly is used to fix on the forearm, and the upper arm fixing part of the fixing assembly is used to fix on the upper arm. When the first drive motor in the rotation assembly When rotating, the output shaft of the first driving motor drives the first torque sensor to rotate, and drives the rotating fixing part to rotate through the first torque sensor, and then the rotating fixing part drives the user's wrist to rotate, and the user's wrist is located where the output shaft of the first driving motor is The straight line is the rotating shaft to rotate, so that the user's forearm can be trained in pronation and supination. When the second drive motor in the flexion and extension assembly rotates, the output shaft of the second drive motor drives the second torque sensor to rotate, and passes through the second The torque sensor drives the flexion and extension fixing part to rotate, and then the flexion and extension fixing part drives the user's forearm to rotate, and the user's forearm rotates with the straight line where the output shaft of the second drive motor is located, so that the user's elbow joint can be flexed and extended; wherein, the first The setting of the first torque sensor and the second torque sensor enables the training mode of the device to be adjusted to passive mode or active mode according to the user's needs, so that the device can better adapt to two different trainings of flexion and extension and rotation, which is beneficial to speed up the user's training. Recovery; the first torque sensor and the second torque sensor convert the physical change data of the torque into precise electrical signals and transmit them to the control circuit board of the control module, and the device motion posture data detected by the built-in encoder of the second drive motor and the posture sensor transmitted to the control module, the control module performs calculations based on the above signals and data to determine the gravitational moment of the rotating component and the flexion and extension component, and the control module determines the magnitude and direction of the torque required to compensate the above gravitational moment according to the movement position information of the arm, And generate a control signal to control the second drive motor, so that the second drive motor produces an output torque opposite to the direction of gravity, which can balance the fall caused by the gravity of the rotating component and the flexion and extension component; when the device is dynamic, through gravity compensation, The dynamic tracking error of the device is small, and the control is smoother.

Preferably, the support adjustment frame includes a connecting ring and two sliding brackets arranged symmetrically on one side of the connecting ring, the first drive motor is arranged on a side of the connecting ring away from the sliding brackets, and the The first torque sensor is used to be installed on the side of the connecting ring provided with the sliding bracket, and the first torque sensor is fixedly connected to the output shaft of the first drive motor;

The rotating fixture includes a rotating handle, one end of the rotating handle is provided with a connection groove, the first torque sensor is located in the connection groove, and the side wall of the connection groove is provided with a rotation limiting groove; the connection The side wall of the ring is provided with a rotation limiting block, which is used to rotate and connect with the rotation limiting groove; the other end of the rotating handle has a grab bar, and the grab bar is used for the hand to grasp grip.

Preferably, the rotating fixture further includes a splint strap and a first splint and a second splint symmetrically arranged on both sides of the rotary handle, and the splint strap is used to connect the first splint and the second splint. splint.

Preferably, the fixing frame includes a bottom plate and a first limit ring and a second limit ring symmetrically arranged on one side of the bottom plate, and the second drive motor is arranged on the side of the first limit ring away from the One side of the second limit ring, the second torque sensor is used to be installed on the side of the first limit ring close to the second limit ring, and the second torque sensor and the second The output shaft of the driving motor is fixedly connected;

The flexion and extension fixture includes a first connecting arm, a second connecting arm and a rotating bearing, one end of the first connecting arm is used to connect with the second torque sensor, and the other end of the first connecting arm is used for It is connected with the sliding bracket; one end of the second connecting arm is used for rotating connection with the second limiting ring through the rotating bearing, and the other end of the second connecting arm is used for connecting with the other said Connected to the sliding bracket.

Preferably, one end of the first connecting arm is provided with a sensor slot, the second torque sensor is located in the sensor slot, and the side wall of the sensor slot is provided with a first flexion and extension limiting slot; the first limiting The side wall of the position ring is provided with a first limit block, and the first limit block is used for rotational connection with the first flexion and extension limit groove;

One end of the second connecting arm is provided with a bearing groove, the rotating bearing is located in the bearing groove and is rotatably connected with the bearing groove, and the side wall of the bearing groove is provided with a second flexion and extension limiting groove; the The side wall of the second limiting ring is provided with a second limiting block, and the second limiting block is used for rotatably connecting with the second flexion and extension limiting groove.

Preferably, one end of the first connecting arm connected to the sliding bracket is provided with a bar-shaped sliding groove, and a threaded hole is provided on the first connecting arm facing the bar-shaped sliding groove;

A sliding limiting groove is provided through the sliding bracket, and the sliding bracket is slidably connected with the bar-shaped sliding groove, and the sliding limiting groove is used to be aligned with the threaded hole, and is fixed by an adjusting bolt .

Preferably, the flexion-extension fixture further includes a forearm mounting frame and a forearm pressing plate, both sides of the forearm mounting frame are respectively fixedly connected with the first connecting arm and the second connecting arm, and the forearm pressing plate is used to The forearm is fixed on the forearm mount.

Preferably, the upper arm fixing member includes an upper arm mounting frame and an upper arm pressing plate, the upper arm mounting frame is connected to the fixing frame at an angle through the angle adjustment member, and the upper arm pressing plate is used to fix the upper arm on the upper arm mounting plate. on the shelf.

Preferably, the angle adjusting member includes a connecting shaft, a hollow screw and a fixing part, the connecting shaft is arranged in the middle of the lower bottom surface of the fixing frame; the hollow screw is arranged on the lower end surface of one end of the upper arm mounting frame, so A rotation adjustment hole is provided inside the hollow screw, and the connecting shaft is inserted into the rotation adjustment hole and connected to the hollow screw through the fixing part.

The present invention also provides a gravity compensation calculation method for an arm rehabilitation training device, which uses the data obtained by the control module of the arm rehabilitation training device to perform calculations. The gravity moment formulas under different attitudes are:

When 0°≤θ1≤90° and 0°≤θ2+θ3≤90°, M=COS(90°-θ1-θ2)×G×L;

When 0°≤θ1≤90° and 90°≤θ2+θ3≤180°, M=COS(θ1+θ2-90°)×G×L;

When 0°≤θ1≤90° and θ2+θ3>180°, M=COS(270°-θ1-θ2)×G×L;

When θ1>90° and 90°≤θ2+θ3≤180°, M=COS(θ1+θ2-90°)×G×L;

When θ1>90° and θ2+θ3>180°, M=COS(270°-θ1-θ2)×G×L;

Wherein, θ1 is the angle between the upper arm and the vertical direction of the ground detected by the posture sensor of the arm rehabilitation training device, and θ2 is the positive direction of the forearm and the upper arm detected by the encoder built into the second drive motor of the arm rehabilitation training device The angle between the extension lines, θ3 is the angle between the positive extension line of the upper arm and the vertical direction of the ground, θ3=θ1, M is the gravity moment, G is the gravity of the rotation component and the flexion and extension component, L is the overall weight of the rotation component and the flexion and extension component The distance between the center of gravity and the rotation point of the second driving motor of the arm rehabilitation training device.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of an arm rehabilitation training device according to an embodiment of the present invention;

Fig. 2 is a partial structural schematic diagram of a rotating assembly according to an embodiment of the present invention;

Fig. 3 is a partial structural schematic diagram of the rotating assembly according to the embodiment of the present invention;

Fig. 4 is a partial structural schematic diagram of the rotating assembly according to the embodiment of the present invention;

Fig. 5 is a partial structural schematic diagram of the flexion and extension assembly according to the embodiment of the present invention;

Fig. 6 is a structural schematic diagram of a fixing frame and a second connecting arm according to an embodiment of the present invention;

Fig. 7 is a partial structural schematic diagram of the flexion and extension assembly according to the embodiment of the present invention;

Fig. 8 is a schematic structural diagram of an upper arm fixing member according to an embodiment of the present invention;

Fig. 9 is a schematic structural diagram of a fixing assembly and a fixing frame according to an embodiment of the present invention;

Fig. 10 is a second schematic diagram of the overall structure of the arm rehabilitation training device according to the embodiment of the present invention;

Fig. 11 is a schematic diagram of plane movement of a human body wearing an arm rehabilitation training device according to an embodiment of the present invention;

Fig. 12 is a schematic structural diagram of the gravitational moment compensation direction clockwise when 0°≤θ1≤90° and 0°≤θ2+θ3≤90° in the gravity compensation calculation method of the arm rehabilitation training device according to the embodiment of the present invention;

Fig. 13 is a schematic diagram of the gravity compensation direction in the clockwise direction when 0°≤θ1 ₅ ≤90° and 90°≤θ2+θ3≤180° in the gravity compensation calculation method of the arm rehabilitation training device according to the embodiment of the present invention;

Fig. 14 is the gravity compensation calculation method of the arm rehabilitation training device according to the embodiment of the present invention. When 0°≤θ1≤90° and θ2+θ3>180°, M=COS(270°-θ1-θ2)×G×L , and the direction of gravitational moment compensation is counterclockwise.

Fig. 15 shows the gravity compensation calculation method of the arm rehabilitation training device according to the embodiment of the present invention, when θ1>90° and 90°≤θ2+θ3≤180°, M=COS(θ1+θ2-90°)×G×L, Schematic diagram of the structure where the gravity moment compensation direction is clockwise;

Fig. 16 is a structural schematic diagram of the gravity compensation direction in the counterclockwise direction when θ1>90° and θ2+θ3>180° in the gravity compensation calculation method of the arm rehabilitation training device according to the embodiment of the present invention.

Explanation of reference signs:

1 rotating assembly, 11 first drive motor, 12 support adjustment frame, 121 connecting ring, 122 sliding bracket, 123 rotating limit block, 124 adjusting bolt, 125 sliding limit slot, 13 first torque sensor, 14 rotating fixing piece, 141 rotating handle, 142 connecting slot, 143 rotating limit slot, 144 grab bar, 145 splint strap, 146 first splint, 147 second splint, 2 flexion and extension assembly, 21 second drive motor, 22 fixed frame, 221 bottom plate, 222 the first limit ring, 223 the second limit ring, 224 the first limit block, 225 the second limit block, 23 the second torque sensor, 24 flexion and extension fixing piece, 240 forearm mounting frame, 2401 forearm pressure plate, 2402 forearm Strap, 2403 fixed mounting hole, 2404 first forearm strap hole, 241 first connecting arm, 242 second connecting arm, 243 rotating bearing, 244 sensor slot, 245 first flexion and extension limiting slot, 246 bearing slot, 247 No. Two flexion and extension limit slots, 248 strip sliding grooves, 249 threaded holes, 3 fixing components, 31 angle adjustment parts, 311 connecting shafts, 312 hollow screw rods, 313 fixing parts, 314 rotation adjustment holes, 32 upper arm fixing parts, 321 upper arm installation Frame, 322 upper arm pressure plate, 323 upper arm strap, 324 second upper arm strap hole, 4 control module, 41 attitude sensor, 42 control panel, 5 rotation points.

Detailed ways

The implementation manner of the present application will be further described in detail below with reference to the drawings and embodiments. The following examples are used to illustrate the present application, but cannot be used to limit the scope of the present application.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right" etc. are based on those shown in the accompanying drawings. The orientation or positional relationship is only for the convenience of describing the present invention and simplifying the description, but does not indicate or imply that the referred modules or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as limiting the present invention.

It should be noted that in the coordinate system XYZ provided in this article, the positive direction of the X-axis represents the right, the reverse direction of the X-axis represents the left, the positive direction of the Y-axis represents the front, the reverse direction of the Y-axis represents the rear, and the positive direction of the Z-axis Direction represents upward, and the reverse of the Z axis represents downward; Z axis, X axis, and Y axis represent meanings only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the modules or components referred to must have a specific orientation, Constructed and operative in a particular orientation and therefore are not to be construed as limitations of the invention.

Referring to Fig. 1-Fig. 10, an arm rehabilitation training device provided by the present invention includes: a rotating assembly 1, including a first driving motor 11, a support adjustment frame 12, a first torque sensor 13 and a rotating fixture 14, the first A drive motor 11 is installed on the support adjustment frame 12, the first torque sensor 13 is used to be installed on the support adjustment frame 12 and fixedly connected with the output shaft of the first drive motor 11, the rotating The fixing part 14 is used to be installed on the first torque sensor 13 to fix the wrist;

Referring to Fig. 5, the flexion and extension assembly 2 includes a second drive motor 21, a fixed frame 22, a second torque sensor 23 and a flexion and extension fixture 24, the second drive motor 21 is installed on the fixed frame 22, and the second The torque sensor 23 is used to be installed on the fixed frame 22 and fixedly connected with the output shaft of the second drive motor 21, and the flexion and extension fixing member 24 is used to be installed on the fixed frame 22 to fix the forearm, and The flexion and extension fixing member 24 is connected with the support adjustment frame 12;

The fixing assembly 3 includes an angle adjusting part 31 and an upper arm fixing part 32, the upper arm fixing part 32 is connected to the fixing frame 22 at an angle through the angle adjusting part 31, and the upper arm fixing part 32 is used to fix the upper arm;

The control module 4 includes a control circuit board, a motor driver and an attitude sensor 41, the attitude sensor 41 is arranged on the upper arm fixture 32, and the two motor drivers are connected to the first driving motor 11 and the second driving motor respectively. Two driving motors 21 are connected, and the first torque sensor 13, the second torque sensor 23, the motor driver and the attitude sensor 41 are all connected to the control circuit board in communication, so as to transmit the collected data to The control circuit board performs data processing.

Specifically, the control module 4 also includes an operation panel 42, the operation panel 42 is electrically connected to the control circuit, the first torque sensor 13, the second torque sensor 23, the motor driver and the The attitude sensors 41 are all communicated with the control circuit board, and display data on the operation panel 42 .

In this embodiment, the rotation fixing member 14 in the rotation assembly 1 is used to be fixed on the wrist, the flexion and extension fixing member 24 in the flexion and extension assembly 2 is used to be fixed on the forearm, and the fixed assembly 3 The upper arm fixing part 32 is used to fix on the upper arm, when the first driving motor 11 in the rotating assembly 1 rotates, the output shaft of the first driving motor 11 drives the first torque sensor 13 to rotate , and the rotating fixture 14 is driven to rotate through the first torque sensor 13, and then the rotating fixture 14 drives the user's wrist to rotate, and the user's wrist takes the straight line where the output shaft of the first driving motor 11 is located as the rotating axis Carry out autorotation so that the user's forearm can be trained in pronation and supination. When the second drive motor 21 in the flexion and extension assembly 2 rotates, the output shaft of the second drive motor 21 drives the second torque The sensor 23 rotates, and drives the flexion and extension fixing part 24 to rotate through the second torque sensor 23, and then the flexion and extension fixing part 24 drives the user's forearm to rotate, and the user's forearm is located where the output shaft of the second drive motor 21 is located. The straight line rotates as the rotating shaft, so that the user's elbow joint can be flexed and extended.

Among them, the setting of the first torque sensor 13 and the second torque sensor 23 enables the training mode of the device to be adjusted to a passive mode or an active mode according to user needs, so that the device can better adapt to both flexion and extension and rotation. Different training helps to speed up the user's recovery; the first torque sensor 13 and the second torque sensor 23 convert the physical change data of torque into accurate electrical signals and transmit them to the control circuit board of the control module 4, After the control circuit board obtains the physical change data of the torque, it can control the first drive motor 11 and the second drive motor 21 to dynamically track and adjust the output torque of the motors. The built-in encoder of the second drive motor 21 and the device motion posture data detected by the attitude sensor 41 are transmitted to the control module 4, and the control module 4 calculates according to the above-mentioned signals and data, and the second drive motor 21 The value of the built-in encoder is used to determine the angle θ2 between the rotation component 1 and the flexion and extension component 2 relative to the fixed component 3, and the value of the attitude sensor 41 is used to determine the angle between the fixed component 3 and the straight line OA. angle θ1, the control circuit board determines the magnitude and direction of the moment required to compensate the above-mentioned gravitational moment after comprehensively judging the angles of θ1 and θ2, and generates a control signal to control the The second driving motor 21 is described, so that the second driving motor 21 produces an output torque opposite to the direction of gravity. When the device is at rest, it can balance the fall caused by the gravity of the rotating assembly and the flexion and extension assembly; when the device is in dynamic , Through the gravitational moment compensation, the dynamic tracking error of the device is small, and the control is more compliant.

To sum up, the training device has a passive training mode and an active training mode, and can perform adaptive adjustment according to the exercise situation, and can improve the problem of poor adaptive characteristics due to user differences.

Referring to FIG. 2 , preferably, the support adjustment frame 12 includes a connecting ring 121 and two sliding brackets 122 symmetrically arranged on one side of the connecting ring 121 , and the first driving motor 11 is arranged far from the connecting ring 121 One side of the sliding bracket 122, the first torque sensor 13 is used to be installed on the side of the connecting ring 121 provided with the sliding bracket 122, and the first torque sensor 13 and the first driving The output shaft of the motor 11 is fixedly connected.

The sliding bracket 122 is used to connect with the flexion and extension fixing member 24 .

Specifically, the output shaft of the first driving motor 11 passes through the inner ring of the connecting ring 121 , and the first torque sensor 13 is located inside the connecting ring 121 and is connected to all of the first driving motor 11 . The output shaft is fixedly connected.

In this embodiment, on the one hand, the setting of the connecting ring 121 of the support adjustment frame 12 provides an installation carrier for the first driving motor 11 and the first torque sensor 13, which has a supporting effect; on the other hand , the sliding bracket 122 of the support adjustment frame 12 is set to be connected with the flexion and extension fixing part 24, and when the flexion and extension fixing part 24 is installed on the user's forearm, the rotating assembly 1 is fixed on the user's forearm. on the wrist, so as to prevent the device from falling off during exercise; wherein, the first drive motor 11 works to drive the first torque sensor 13 to rotate, and then drives the rotation handle 141 to rotate, so that the user's forearm Do pronation and supination exercises.

Referring to FIGS. 2-3 , preferably, the rotating fixture 14 includes a rotating handle 141, and one end of the rotating handle 141 is provided with a connecting groove 142, and the connecting groove 142 is matched with the first torque sensor 13, The first torque sensor 13 is located in the connecting groove 142, the side wall of the connecting groove 142 is provided with a rotation limiting groove 143; the side wall of the connecting ring 121 is provided with a rotation limiting block 123, and the rotating The limiting block 123 is used for rotational connection with the rotation limiting slot 143; the other end of the rotating handle 141 has a grab bar 144, and the grab bar 144 is used for grasping by hand.

Specifically, the rotation limiting groove 143 is a half-ring structure, and the central angle of the rotation limiting groove 143 is 160°, the rotation limiting groove 143 is located on the periphery of the connecting groove 142, the rotation When the handle 141 is fixedly mounted on the first torque sensor 13 through the connecting groove 142, the rotation limiting block 123 is located inside the rotation limiting groove 143, and when the rotation limiting groove 143 is located at a right angle to the plane When the coordinate system is at -80°˜+80°, the rotation limiting block 123 is located in the middle of the rotation limiting groove 143 .

In this embodiment, the first driving motor 11 works, drives the first torque sensor 13 to rotate, and then drives the rotation handle 141 to rotate, and the setting of the rotation limit slot 143 enables the user to pass the rotation The degree of rotation of the handle 141 is less than 80°, and the degree of counterclockwise rotation is less than 80°. The rotation limiting groove 143 cooperates with the rotation limiting block 123 to limit the rotation angle of the rotating handle 141 , to prevent over-rotation damage to the forearm.

Referring to FIG. 4 , preferably, the rotating fixture 14 further includes a splint strap 145 and a first splint 146 and a second splint 147 symmetrically arranged on both sides of the rotary handle 141, and the splint strap 145 is used for connecting The first splint 146 and the second splint 147 .

Specifically, the rotating handle 141 is made of carbon fiber material, and the side wall of the rotating handle 141 is symmetrically provided with two rotating ears; the first splint 146 and the second splint 147 are made of carbon fiber material, and the first The clamping plate 146 is provided with a rotation slot and a rotation shaft, the first clamping plate 146 is hinged on the rotation ear of the rotation handle 141 through the rotation slot and the rotation shaft, and the second clamping plate 147 is also installed.

Both sides of the first splint 146 and the second splint 147 are symmetrically provided with splint straps 145 holes for the splint straps 145 to pass through.

In this embodiment, the splint strap 145 passes through the splint strap 145 hole of the first splint 146 and the splint strap 145 hole of the second splint 147, so as to fix the user's wrist Between the first splint 146 and the second splint 147 , the connection between the rotating assembly 1 and the user's wrist is strengthened.

5-6, preferably, the fixed frame 22 includes a bottom plate 221 and a first limit ring 222 and a second limit ring 223 symmetrically arranged on one side of the bottom plate 221, and the second drive motor 21 Set on the side of the first limit ring 222 away from the second limit ring 223, the second torque sensor 23 is used to be installed on the first limit ring 222 close to the second limit ring One side of the ring 223, and the second torque sensor 23 is fixedly connected to the output shaft of the second drive motor 21;

Referring to FIGS. 7-8 , the flexion and extension fixture 24 includes a first connecting arm 241 , a second connecting arm 242 and a rotating bearing 243 , and one end of the first connecting arm 241 is used to communicate with the second torque sensor 23 connected, the other end of the first connecting arm 241 is used to connect with the sliding bracket 122; one end of the second connecting arm 242 is used to rotate with the second limiting ring 223 through the rotating bearing 243 The other end of the second connecting arm 242 is used to connect with another sliding bracket 122 .

Specifically, the output shaft of the second drive motor 21 passes through the inner ring of the first limit ring 222 , and the second torque sensor 23 is located near the second limit ring 222 One side of the bit ring 223 is fixedly connected with the output shaft of the second drive motor 21 .

The fixing frame 22 is made of carbon fiber material and designed in a U shape, and the first limiting ring 222 and the second limiting ring 223 are vertically arranged on the bottom plate 221 .

In this embodiment, the setting of the first limiting ring 222 of the fixing frame 22 provides an installation carrier for the second driving motor 21, the second torque sensor 23, and the first connecting arm 241, It has a supporting function, and the second limit ring 223 provides a mounting carrier for the second connecting arm 242 and the rotating bearing 243, and has a supporting function; the first connecting arm 241 and the second connecting arm 242 respectively It is connected with the two sliding brackets 122, and then the rotation assembly 1 and the middle joint flexion and extension assembly 2 are connected as a whole, which is convenient for users to carry.

5, preferably, one end of the first connecting arm 241 is provided with a sensor slot 244, the sensor slot 244 is matched with the second torque sensor 23, and the second torque sensor 23 is located in the sensor slot 244, the side wall of the sensor groove 244 is provided with a first flexion and extension limiting groove 245; the side wall of the first limiting ring 222 is provided with a first limiting block 224, and the first limiting block 224 is used Rotately connected with the first flexion and extension limiting groove 245;

Referring to Fig. 6, one end of the second connecting arm 242 is provided with a bearing groove 246, and the bearing groove 246 is matched with the rotating bearing 243, and the rotating bearing 243 is located in the bearing groove 246 and is connected with the bearing The groove 246 is rotationally connected, and the side wall of the bearing groove 246 is provided with a second flexion and extension limiting groove 247; the side wall of the second limiting ring 223 is provided with a second limiting block 225, and the second limiting block 225 is used for rotational connection with the second flexion and extension limiting groove 247 .

Specifically, the first connecting arm 241 is designed in a racket shape using carbon fiber material, the second connecting arm 242 is also designed in a racket shape using carbon fiber material, and the sensor slot 244 is arranged on the racket of the first connecting arm 241. The bearing groove 246 is disposed at the racket-shaped end of the second connecting arm 242 .

The first flexion and extension limiting groove 245 and the second flexion and extension limiting groove 247 are both semi-circular structures, and the central angle of the first flexion and extension limiting groove 245 and the second flexion and extension limiting groove 247 is 120°, the first flexion and extension limiting groove 245 is located at the periphery of the sensor groove 244, and when the first connecting arm 241 is fixedly installed on the second torque sensor 23 through the sensor groove 244, the first A limiting block 224 is located inside the first flexion and extension limiting groove 245. When the first flexion and extension limiting groove 245 is located at 0°～+120° of the plane Cartesian coordinate system, the first limiting block 224 is located at the 0° end of the first flexion and extension limiting groove 245, the angle of the second flexion and extension limiting groove 247 is set symmetrically with the first flexion and extension limiting groove 245, and the second limiting block 225 and The first limiting blocks 224 are arranged symmetrically.

In this embodiment, the second driving motor 21 works, drives the second torque sensor 23 to rotate, and then drives the first connecting arm 241 to rotate, the first flexion and extension limiting groove 245 and the second The setting of the flexion and extension limiting groove 247 makes the degree of rotation of the first connecting arm 241 and the second connecting arm 242 less than 120°, so as to realize flexion and extension training, and the first flexion and extension limiting groove 245 and the first limiting block 224, the second flexion and extension limiting groove 247 and the second limiting block 225 cooperate to limit the rotation angle of the first connecting arm 241 and the second connecting arm 242, preventing Excessive flexion and extension damage the forearm.

Referring to Fig. 1-Fig. 2, preferably, one end of the first connecting arm 241 connected to the sliding bracket 122 is provided with a bar-shaped sliding groove 248, and the first connecting arm 241 is facing the bar-shaped A threaded hole 249 is provided through the slide groove 248;

The sliding bracket 122 is provided with a sliding limit slot 125 , the sliding bracket 122 is slidably connected with the bar-shaped sliding slot 248 , and the sliding limiting slot 125 is used to be aligned with the threaded hole 249 , And realize fixing by adjusting bolt 124.

Specifically, one end of the first connecting arm 241 connected to the sliding bracket 122 is a long rod-shaped structure, and one end of the second connecting arm 242 connected to the sliding bracket 122 is also a long rod-shaped structure.

In this embodiment, the setting of the sliding bracket 122 and the bar-shaped sliding groove 248 is beneficial to adjust the length of the sliding bracket 122 located outside, thereby facilitating the adjustment of the overall length of the device to suit the arm lengths of different users; The setting of the adjusting bolt 124 fixes the sliding bracket 122 in the bar-shaped sliding groove 248, which has a simple structure and is convenient for disassembly and adjustment.

Referring to FIG. 7 , preferably, the flexion and extension fixing member 24 further includes a forearm mounting frame 240 and a forearm pressing plate 2401 , and the two sides of the forearm mounting frame 240 are connected to the first connecting arm 241 and the second connecting arm 242 respectively. Fixedly connected, the forearm pressing plate 2401 is used to fix the forearm on the forearm installation frame 240 .

Specifically, the forearm mounting frame 240 is made of carbon fiber material, and the two sides of the forearm mounting frame 240 are symmetrically provided with fixing mounting holes 2403, and the fixing mounting holes 2403 are passed through the screws to fix the forearm mounting frame 240 on the between the first connecting arm 241 and the second connecting arm 242 .

The flexion and extension fixing part 24 also includes a forearm strap 2402, a first forearm strap hole 2404 is symmetrically arranged on both sides of the forearm mounting frame 240, and a second forearm strap 2402 hole is arranged on the forearm pressing plate 2401, through which the The forearm strap 2402 passes through the first forearm strap hole 2404 and the second forearm strap 2402 hole, so that the forearm pressure plate 2401 is movably connected with the forearm mounting frame 240, by adjusting the forearm strap The length of 2402 can fix the forearm of the human body between the forearm mounting frame 240 and the forearm pressing plate 2401, prevent the device from falling off the forearm, and strengthen the connection between the flexion and extension assembly 2 and the user's forearm.

In this embodiment, the second driving motor 21 works to drive the second torque sensor 23, the first connecting arm 241 and the second connecting arm 242 to rotate, and the two sides of the forearm mounting bracket 240 Fixedly connected with the first connecting arm 241 and the second connecting arm 242 respectively, the forearm pressing plate 2401 is used to fix the forearm on the forearm mounting frame 240, and then drive the forearm mounting frame 240 to rotate, so that Perform flexion and extension training on the user's elbow joint.

Referring to FIG. 8 , preferably, the upper arm fixing member 32 includes an upper arm mounting frame 321 and an upper arm pressing plate 322 , the upper arm mounting frame 321 is connected to the fixing frame 22 at an angle through the angle adjusting member 31 , and the upper arm pressing plate 322 is used to fix the upper arm on the upper arm mounting frame 321 .

Specifically, the upper arm fixing part 32 also includes an upper arm strap 323, the upper arm mounting frame 321 is designed in a Z-shape using carbon fiber material, and the two sides of the upper plate of the upper arm mounting frame 321 are symmetrically provided with first upper arm straps 323 holes, the upper arm platen 322 is provided with a second upper arm strap hole 324, through which the upper arm strap 323 passes through the first upper arm strap hole 323 and the second upper arm strap hole 324, so that the The upper arm pressing plate 322 is movably connected with the upper arm installation frame 321 .

In this embodiment, the upper arm of the human body can be fixed between the upper arm mounting frame 321 and the upper arm pressing plate 322 by adjusting the length of the upper arm strap 323, preventing the device from falling off the upper arm and strengthening the fixing assembly 3 connection to the user's upper arm.

8-10, preferably, the angle adjusting member 31 includes a connecting shaft 311, a hollow screw 312 and a fixing part 313, and the connecting shaft 311 is arranged in the middle of the lower bottom surface of the fixing frame 22; the hollow screw 312 is set on the lower end surface of one end of the upper arm mounting frame 321, and the hollow screw 312 is provided with a rotation adjustment hole 314 inside, and the connecting shaft 311 is inserted into the rotation adjustment hole 314 and passed through the fixing part 313 and The hollow screw 312 is connected.

Specifically, the side wall of the hollow screw 312 is provided with interval grooves, and the outer wall of the hollow screw 312 is provided with external threads; Matching thread groove, the diameter of the thread groove is smaller than the diameter of the hollow screw 312, the fixing part 313 is used to screw on the outside of the hollow screw 312, so that the side wall of the hollow screw 312 is squeezed The interval slots are clamped on the outside of the connecting shaft 311 .

In this embodiment, the setting of the connecting shaft 311 and the hollow screw 312 is convenient for the user to adjust the angle between the upper arm fixing part 32 and the flexion and extension assembly 2 according to the actual situation. The fixing part 313 realizes a fixed connection, so that the device fits better with the carrying angle of the human arm.

Specifically, the operation panel 42 is fixedly installed on the upper arm mounting frame 321, and the operation panel 42 is provided with a display screen and various buttons, such as: on/off, passive mode, assisted mode, active mode , impedance mode, etc. The attitude sensor 41 is installed under the upper arm mounting bracket 321, and is used to detect the angle θ1 of the upper arm and the ground vertically, which is convenient for the gravity compensation calculation of the device.

Referring to Fig. 12-Fig. 13, during specific work, arm is put into portable forearm and elbow joint rehabilitation training device, and hand, forearm and upper arm pass through described first splint 146 and described second splint 147, described forearm respectively. The mounting bracket 240 and the forearm pressing plate 2401, the upper arm mounting bracket 321 and the upper arm pressing plate 322 are fixed; when wearing, according to the length of the forearm and the rotation angle of the human body, the adjusting bolt 124 can be used to adjust the The length of the sliding bracket 122 located outside is convenient for adjusting the overall length of the device to suit the arm lengths of different users. The angle of rotation of the device can be adjusted through the angle adjustment member 31, and the on/off and training modes of the device can be adjusted through the Operation panel 42 controls.

When performing passive elbow flexion and extension training or assisted motion training, the second drive motor 21 works, and simultaneously drives the second torque sensor 23, the first connecting arm 241 and the second connecting arm 242 to rotate, which will drive The rotation component 1 and the flexion and extension component 2 rotate around the Y axis, so as to achieve the purpose of flexion and extension of the elbow joint. When the limit positions of the first flexion and extension limiting groove 245 and the second flexion and extension limiting groove 247 are reached, the device will automatically stop moving. During the exercise, the second torque sensor 23 will detect the force on the elbow joint in real time and feed it back to the control circuit board, so that the control circuit board can adaptively adjust the output parameters of the motor to ensure the safety of the user.

When carrying out forearm pronation and supination passive training or assisting training, the first driving motor 11 works, and at the same time drives the first torque sensor 13 to rotate, and then drives the rotating handle 141 to rotate around the X axis, thereby reaching the forearm The purpose of pronation and supination movement. When the limit position of the rotation limiting slot 143 is reached, the device will automatically stop moving. During the exercise, the first torque sensor 13 will detect the force on the forearm in real time, and feed back to the control circuit board, so that the control circuit board can adaptively adjust the output of the first drive motor 11 and the second drive motor 21 parameters to ensure the safety of users.

When performing active elbow flexion and extension training or resistance training, the flexion and extension force of the elbow joint will be transmitted to the first connecting arm 241 through the flexion and extension assembly 2, and then transmitted to the second torque sensor 23 by the first connecting arm 241 After the second torque sensor 23 receives the force signal and direction, it transmits the signal to the control circuit board, and the control circuit board will issue an instruction to make the second drive motor 21 generate force and direction adaptive to the user. direction, the drive moves.

When carrying out forearm pronation and supination active training or resistance training, the rotational force of the forearm will be transmitted to the first torque sensor 13 through the rotating handle 141, and the first torque sensor 13 will receive the force signal and direction. , transmit the signal to the control circuit board, and the control circuit board will issue an instruction to make the first drive motor 11 generate adaptive force and direction of the user, and drive the device to move.

Referring to Fig. 11-Fig. 16, the present invention also provides a gravity compensation calculation method of the arm rehabilitation training device, which uses the data obtained by the control module 4 of the above-mentioned arm rehabilitation training device for calculation, and the rotation of the arm rehabilitation training device As a whole, component 1 and flexion and extension component 2, the gravity moments under different postures of the device are:

Referring to Figure 12, when 0°≤θ1≤90° and 0°≤θ2+θ3≤90°, M=COS90°-θ1-θ2×G×L;

Specifically, when 0°≤θ1≤90° and 0°≤θ2+θ3≤90°, point D is the overall center of gravity of flexion and extension assembly 2 and rotation assembly 1, and G represents the gravity of rotation assembly 1 and flexion and extension assembly 2 , the gravity is G=mg, therefore, the gravitational moment produced by the gravity of the mechanism is M=G1×L=COSθ4×G×L, it can be seen from the geometric relationship: θ1=θ3=θ5, θ2=θ6, θ4+θ5+θ6= 90°. Available: M=COS90°-θ5-θ6×G×L, where θ5=θ1 is the angular position information of the attitude sensor 41 of the arm rehabilitation training device, and θ6=θ2 is the first position information of the arm rehabilitation training device Two drive motors 21 angular position information, namely: M=COS90°-θ1-θ2×G×L, the two variables of θ1 and θ2 are known and can be obtained from the control module of the device, and G is a definite value, so it can be Find the moment of gravity M. When the elbow joint flexes and extends, the gravitational moment compensation direction is clockwise, so the control module 4 needs to compensate a motor output torque that is equal to the gravitational moment M and opposite in direction to balance the torque generated by gravity.

Wherein, the arm rehabilitation training device moves in the AOB plane, O is the top positioning point of the upper arm fixing member 32, OB is horizontal to the ground, and OA is vertical to the ground.

Referring to Figure 13, when 0°≤θ1≤90° and 90°≤θ2+θ3≤180°, M=COSθ1+θ2-90°×G×L;

Specifically, at this time, the gravitational moment compensation direction is clockwise.

Referring to Figure 14, when 0°≤θ1≤90° and θ2+θ3>180°, M=COS270°-θ1-θ2×G×L;

Specifically, at this time, the gravitational moment compensation direction is counterclockwise.

Referring to Figure 15, when θ1>90° and 90°≤θ2+θ3≤180°, M=COSθ1+θ2-90°×G×L;

Specifically, at this time, the gravitational moment compensation direction is clockwise.

Referring to Figure 16, when θ1>90° and θ2+θ3>180°, M=COS270°-θ1-θ2×G×L;

Specifically, at this time, the gravitational moment compensation direction is counterclockwise.

Wherein, θ1 is the angle of the upper arm detected by the posture sensor 41 of the arm rehabilitation training device and the vertical direction of the ground, and θ2 is the angle between the forearm and the upper arm detected by the built-in encoder of the second drive motor 21 of the arm rehabilitation training device. The angle between the positive extension lines, θ3 is the angle between the positive extension line of the upper arm and the vertical direction of the ground, M is the gravity moment, G is the gravity of the rotation component 1 and the flexion and extension component 2, L is the rotation component 1 and the flexion and extension component 2 The distance between the overall center of gravity and the rotation point 5 of the second driving motor 21 of the arm rehabilitation training device.

In this embodiment, the gravity compensation calculation method of the arm rehabilitation training device is beneficial to increase the dynamic performance of the device, and the dynamic tracking error is smaller than that without gravity compensation; after gravity compensation, the rotation assembly 1 and the flexion and extension assembly 2 will not be affected Gravity affects the fall; after calculating the torque that needs to be compensated, inform the control module 4 of the magnitude and direction of the torque, and the control module 4 will inform the motor of the magnitude and direction of the required torque according to the position information of the device. When the device is in When static, the motor always maintains an output torque opposite to the direction of gravity at this position, which can balance the fall caused by the influence of gravity; when the device is in dynamic state, through gravity compensation, the dynamic tracking error of the device is small and the control is more compliant.

Although the present disclosure is disclosed as above, the protection scope of the present disclosure is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure, and these changes and modifications will all fall within the protection scope of the present invention.

Claims (10)

1. An arm rehabilitation training device, characterized in that, comprising: The rotating assembly (1) includes a first driving motor (11), a support adjustment frame (12), a first torque sensor (13) and a rotating fixture (14), and the first driving motor (11) is installed on the On the support adjustment frame (12), the first torque sensor (13) is used to be installed on the support adjustment frame (12) and fixedly connected with the output shaft of the first drive motor (11), the rotating The fixing part (14) is used to be installed on the first torque sensor (13) to fix the wrist; The flexion and extension assembly (2) includes a second drive motor (21), a fixing frame (22), a second torque sensor (23) and a flexion and extension fixture (24), and the second drive motor (21) is installed on the fixed On the frame (22), the second torque sensor (23) is used to be installed on the fixed frame (22) and fixedly connected with the output shaft of the second drive motor (21), and the flexion and extension fixture ( 24) It is used to be installed on the fixing frame (22) to fix the forearm, and the flexion and extension fixing part (24) is connected with the support adjustment frame (12); The fixing assembly (3) includes an angle adjusting part (31) and an upper arm fixing part (32), and the upper arm fixing part (32) is angularly connected to the fixing frame (22) through the angle adjusting part (31), The upper arm fixing part (32) is used for fixing the upper arm; The control module (4) includes a control circuit board, a motor driver and an attitude sensor (41), the attitude sensor (41) is arranged on the upper arm fixture (32), and the two motor drivers are respectively connected to the second A drive motor (11), the second drive motor (21) is connected, the first torque sensor (13), the second torque sensor (23), the motor driver and the attitude sensor (41 ) are connected in communication with the control circuit board, so as to transmit the collected data to the control circuit board for data processing. 2. The arm rehabilitation training device according to claim 1, characterized in that, the support adjustment frame (12) comprises a connecting ring (121) and two sliding brackets symmetrically arranged on one side of the connecting ring (121) (122), the first drive motor (11) is arranged on the side of the connecting ring (121) away from the sliding bracket (122), and the first torque sensor (13) is used to be installed on the connecting ring (121) The ring (121) is provided with one side of the sliding bracket (122), and the first torque sensor (13) is fixedly connected to the output shaft of the first drive motor (11); The rotating fixture (14) includes a rotating handle (141), one end of the rotating handle (141) is provided with a connecting groove (142), and the first torque sensor (13) is located in the connecting groove (142) , the side wall of the connecting groove (142) is provided with a rotation limiting groove (143); the side wall of the connecting ring (121) is provided with a rotation limiting block (123), and the rotation limiting block (123) It is used for rotational connection with the rotation limiting groove (143); the other end of the rotation handle (141) has a grab bar (144), and the grab bar (144) is used for grasping by hand. 3. The arm rehabilitation training device according to claim 2, characterized in that, the rotating fixture (14) also includes splint straps (145) and first symmetrically arranged on both sides of the rotating handle (141). The splint (146) and the second splint (147), the splint strap (145) is used to connect the first splint (146) and the second splint (147). 4. The arm rehabilitation training device according to claim 2, characterized in that, the fixed mount (22) comprises a base plate (221) and a first stop ring (222) symmetrically arranged on one side of the base plate (221) ), the second limit ring (223), the second driving motor (21) is arranged on the side of the first limit ring (222) away from the second limit ring (223), the The second torque sensor (23) is used to be installed on the side of the first limit ring (222) close to the second limit ring (223), and the second torque sensor (23) is connected to the first limit ring (223). The output shaft of two driving motors (21) is fixedly connected; The flexion and extension fixing part (24) includes a first connecting arm (241), a second connecting arm (242) and a rotating bearing (243), and one end of the first connecting arm (241) is used for connecting with the second torque The sensor (23) is connected, the other end of the first connecting arm (241) is used to be connected with the sliding bracket (122); one end of the second connecting arm (242) is used to pass through the rotating bearing (243) is rotationally connected with the second limiting ring (223), and the other end of the second connecting arm (242) is used for connecting with another sliding bracket (122). 5. The arm rehabilitation training device according to claim 4, characterized in that, one end of the first connecting arm (241) is provided with a sensor slot (244), and the second torque sensor (23) is located at the sensor In the groove (244), the side wall of the sensor groove (244) is provided with a first flexion and extension limiting groove (245); the side wall of the first limiting ring (222) is provided with a first limiting block (224 ), the first limiting block (224) is used to be rotationally connected with the first flexion and extension limiting groove (245); One end of the second connecting arm (242) is provided with a bearing groove (246), and the rotating bearing (243) is located in the bearing groove (246) and is rotatably connected with the bearing groove (246). The side wall of the groove (246) is provided with a second flexion and extension limiting groove (247); the side wall of the second limiting ring (223) is provided with a second limiting block (225), and the second limiting block (225) is used for rotational connection with the second flexion and extension limiting groove (247). 6. The arm rehabilitation training device according to claim 4, characterized in that, one end of the first connecting arm (241) connected to the sliding bracket (122) is provided with a bar-shaped sliding groove (248), and A threaded hole (249) is provided through the first connecting arm (241) facing the bar-shaped sliding groove (248); A sliding limit slot (125) is provided through the sliding bracket (122), the sliding bracket (122) is slidingly connected with the bar-shaped sliding slot (248), and the sliding limiting slot (125) is used It is aligned with the threaded hole (249) and fixed by the adjusting bolt (124). 7. The arm rehabilitation training device according to claim 4, characterized in that, the flexion and extension fixture (24) also includes a forearm mounting frame (240) and a forearm pressing plate (2401), and the forearm mounting frame (240) The two sides are respectively fixedly connected with the first connecting arm (241) and the second connecting arm (242), and the forearm pressing plate (2401) is used to fix the forearm on the forearm mounting frame (240). 8. The arm rehabilitation training device according to claim 1, wherein the upper arm fixture (32) comprises an upper arm mounting frame (321) and an upper arm pressing plate (322), and the upper arm mounting frame (321) passes through the upper arm mounting frame (321). The angle adjusting part (31) is connected to the fixing frame (22) at an angle, and the upper arm pressing plate (322) is used to fix the upper arm on the upper arm mounting frame (321). 9. arm rehabilitation training device according to claim 8, is characterized in that, described angle regulator (31) comprises connecting shaft (311), hollow screw rod (312) and fixed part (313), and described connecting shaft ( 311) is arranged in the middle part of the lower bottom surface of the fixed frame (22); the hollow screw (312) is arranged on the lower end surface of one end of the upper arm mounting frame (321), and the hollow screw (312) is provided with a rotation adjustment hole (314), the connecting shaft (311) is inserted into the rotation adjustment hole (314) and connected with the hollow screw (312) through the fixing part (313). 10. A gravity compensation calculation method of an arm rehabilitation training device, using the data obtained by the control module in the arm rehabilitation training device according to any one of claims 1-9 to calculate, wherein the arm rehabilitation training The rotation component (1) and the flexion and extension component (2) of the device as a whole, the gravity moment formulas under different postures of the device are: When 0°≤θ1≤90° and 0°≤θ2+θ3≤90°, M=COS(90°-θ1-θ2)×G×L; When 0°≤θ1≤90° and 90°≤θ2+θ3≤180°, M=COS(θ1+θ2-90°)×G×L; When 0°≤θ1≤90° and θ2+θ3>180°, M=COS(270°-θ1-θ2)×G×L; When θ1>90° and 90°≤θ2+θ3≤180°, M=COS(θ1+θ2-90°)×G×L; When θ1>90° and θ2+θ3>180°, M=COS(270°-θ1-θ2)×G×L; Wherein, θ1 is the angle of the upper arm detected by the posture sensor (41) of the arm rehabilitation training device and the vertical direction of the ground, and θ2 is the angle detected by the built-in encoder of the second drive motor (21) of the arm rehabilitation training device The angle between the forearm and the positive extension line of the upper arm, θ3 is the angle between the positive extension line of the upper arm and the vertical direction of the ground, θ3=θ1, M is the gravity moment, G is the rotation component (1) and the flexion and extension component (2) L is the distance between the center of gravity of the rotating assembly (1) and the overall center of gravity of the flexion and extension assembly (2) to the rotation point (5) of the second drive motor (21) of the arm rehabilitation training device.

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