CN208677852U

CN208677852U - Muscle rehabilitation device

Info

Publication number: CN208677852U
Application number: CN201721362578.7U
Authority: CN
Inventors: 田鑫辉
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-10-20
Filing date: 2017-10-20
Publication date: 2019-04-02
Anticipated expiration: 2027-10-20

Abstract

The utility model discloses a kind of muscle rehabilitation device, which includes postbrachium fixed part, wrist detecting part, first connecting rod, the second connecting rod, myoelectric sensor, electric pushrod and main controller；First connecting rod one end is fixedly connected with postbrachium fixed part, and the other end is connect with one end of the second connecting rod by shaft；The other end of second connecting rod is fixedly connected with wrist detecting part；Electric pushrod one end is connect with postbrachium fixed part, and the other end is connect with the second connecting rod；Main controller is electrically connected with myoelectric sensor, wrist detecting part and electric pushrod respectively.The utility model proposes technical solution in, under the action of electric pushrod, arm swing is before second connecting rod will drive to play the exercise effect to muscle, specifically, electric pushrod acts the active force that the electromyography signal measured by myoelectric sensor and the wrist measured by wrist detecting part apply specifically to control.

Description

Muscle rehabilitation device

Technical field

The utility model relates to medical auxiliary apparatus technical field more particularly to a kind of muscle rehabilitation devices.

Background technique

Medical health-care is significant for the support of human body and kinematic system, for example, if the bone of human arm, pass If section, muscle and tendon irregularly move, then motor center associated, in human body myeloid tissue can wither Contracting.

Currently, generalling use the mode of physiotherapy to help amyotrophic patient exercise's muscle and help joint stiff Hard and tendon glues glutinous patient and resumes treatment, and specifically, physiotherapist makes the arm motion of patient manually by hand, this There are many disadvantages for kind mode, for example, not can guarantee therapist in each physiotherapy all with identical energy and efficiency bar Make；Due to being only able to carry out subjective quantification, so that becoming difficult to the objective quantification of therapeutic effect during multiple treatment.

Utility model content

The main purpose of the utility model is to provide a kind of muscle rehabilitation devices, it is intended to solve to pass through physiotherapist couple The technical issues of mode that patient carries out rehabilitation cannot achieve accurate control.

To achieve the above object, muscle rehabilitation device provided by the utility model include postbrachium fixed part, wrist detecting part, First connecting rod, the second connecting rod, myoelectric sensor, electric pushrod and main controller；The postbrachium fixed part and the myoelectricity pass Sensor is worn at postbrachium；The wrist detecting part is worn at wrist, for detecting the active force of wrist；First connection Bar one end is fixedly connected with the postbrachium fixed part, and the other end is connect with one end of second connecting rod by shaft；It is described The other end of second connecting rod is fixedly connected with the wrist detecting part；Described electric pushrod one end and the postbrachium fixed part connect It connects, the other end is connect with second connecting rod；The main controller respectively with the myoelectric sensor, the wrist detecting part with And the electric pushrod electrical connection.

Preferably, the myoelectric sensor includes wrap and patch electrode；The wrap is worn on around postbrachium and tight It is close to surround the postbrachium；Several described patch electrodes are exposed to the inner peripheral surface of wrap and are tightly attached to the surface of postbrachium, for from The corresponding position of the postbrachium detects electromyography signal.

Preferably, the wrap is band-like, is provided with the first of velcro hook surface on two end one of the wrap Velcro, it is another on be provided with the second velcro of velcro hair side.

Preferably, the wrist detecting part includes interior wrist and shell；The interior wrist is the ring-type for placing wrist Structure；Opposite sides in the shell is provided with force-sensing sensor；The shell is set to the outside of the interior wrist, and institute Force-sensing sensor is stated to be in contact with the outer wall of the interior wrist.

Preferably, the interior wrist includes the first wrist and the second wrist of dismantling connection, first wrist and described The end of one of second wrist offers card slot, and the buckle with card slot clamping is provided on another end.

Preferably, boss is equipped on the outer wall of the interior wrist, on the wall surface that the shell is contacted with the interior wrist It is provided with the annular groove matched with the boss.

Preferably, it is arranged on the shell there are two the groove that is oppositely arranged, the opening of the groove is towards the interior wrist Portion, the force-sensing sensor are set in the groove.

Preferably, the force-sensing sensor includes spring and the varistor for being set to the spring one end, the bullet Spring is in contact with the interior wrist.

Preferably, the muscle rehabilitation device further includes the angular transducer being set in the shaft.

Preferably, the postbrachium fixed part is cyclic structure open at one end.

The utility model proposes technical solution in, postbrachium fixed part and myoelectric sensor are worn at postbrachium, wrist Detecting part is worn at wrist, two fixations of postbrachium fixed part and wrist detecting part as muscle rehabilitation device on arm Point, under the action of electric pushrod, arm swing is before the second connecting rod will drive to play the exercise effect to muscle, specifically Ground, the wrist application for specifically acting the electromyography signal measured by myoelectric sensor and measured by wrist detecting part of electric pushrod Active force control.

Detailed description of the invention

In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor Under, the structure that can also be shown according to these attached drawings obtains other attached drawings.

Fig. 1 is the structural schematic diagram of the muscle rehabilitation device of an embodiment of the present invention；

Structural schematic diagram of the muscle rehabilitation device in another angle that Fig. 2 is Fig. 1；

Structural schematic diagram of the muscle rehabilitation device in another angle that Fig. 3 is Fig. 1；

Fig. 4 is the structural schematic diagram of the first wrist of wrist detecting part in Fig. 1；

Fig. 5 is the right view of the first wrist of Fig. 4；

Fig. 6 is the main view of the first wrist of Fig. 4；

Fig. 7 is the structural schematic diagram of the second wrist of wrist detecting part in Fig. 1；

Fig. 8 is the structural schematic diagram of the shell of wrist detecting part in Fig. 1.

Drawing reference numeral explanation:

Label	Title	Label	Title
				1	Postbrachium fixed part	24	Shell
2	Wrist detecting part	241	First groove
				21	First wrist	242	Second groove
211	Card slot	3	First connecting rod
				22	Second wrist	4	Second connecting rod
221	Buckle	5	Shaft
				23	Boss	6	Electric pushrod

The embodiments will be further described with reference to the accompanying drawings for the realization, functional characteristics and advantage of the utility model aim.

Specific embodiment

The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model Clearly and completely describing, it is clear that described embodiment is only a part of the embodiment of the utility model, rather than all Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise Under every other embodiment obtained, fall within the protection scope of the utility model.

It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute in the utility model embodiment It is only used for explaining in relative positional relationship, the motion conditions etc. under a certain particular pose (as shown in the picture) between each component, such as When the fruit particular pose changes, then directionality instruction also correspondingly changes correspondingly.

In addition, the description for being such as related to " first ", " second " in the present invention is used for description purposes only, and cannot manage Solution is its relative importance of indication or suggestion or the quantity for implicitly indicating indicated technical characteristic.Define as a result, " the One ", the feature of " second " can explicitly or implicitly include at least one of the features.It is " more in the description of the present invention, It is a " it is meant that at least two, such as two, three etc., unless otherwise specifically defined.

In the present invention unless specifically defined or limited otherwise, term " connection ", " fixation " etc. should do broad sense reason Solution, for example, " fixation " may be a fixed connection, may be a detachable connection, or integral；It can be mechanical connection, it can also To be electrical connection；It can be directly connected, the connection inside two elements can also be can be indirectly connected through an intermediary Or the interaction relationship of two elements, unless otherwise restricted clearly.It for the ordinary skill in the art, can be with The concrete meaning of above-mentioned term in the present invention is understood as the case may be.

It in addition, the technical solution between each embodiment of the utility model can be combined with each other, but must be with ability Based on domain those of ordinary skill can be realized, it will be understood that when the combination of technical solution appearance is conflicting or cannot achieve The combination of this technical solution is not present, also not within the protection scope of the requires of the utility model.

The utility model proposes a kind of muscle rehabilitation devices.

Fig. 1 to Fig. 3 is please referred to, in the present embodiment, which includes postbrachium fixed part 1, wrist detecting part 2, first connecting rod 3, the second connecting rod 4, myoelectric sensor, electric pushrod 6 and main controller；The postbrachium fixed part 1 and described Myoelectric sensor is worn at postbrachium；The wrist detecting part 2 is worn at wrist, for detecting the active force of wrist；It is described 3 one end of first connecting rod is fixedly connected with the postbrachium fixed part 1, and one end of the other end and second connecting rod 4 is by turning Axis 5 connects；The other end of second connecting rod 4 is fixedly connected with the wrist detecting part 2；Described 6 one end of electric pushrod with The postbrachium fixed part 1 connects, and the other end is connect with second connecting rod 4；The main controller is sensed with the myoelectricity respectively Device, the wrist detecting part 2 and the electric pushrod 6 are electrically connected.

The utility model proposes technical solution in, postbrachium fixed part 1 and myoelectric sensor are worn at postbrachium, wrist Detecting part 2 is worn at wrist, and postbrachium fixed part 1 and wrist detecting part 2 are solid as two on arm of muscle rehabilitation device Fixed point, under the action of electric pushrod 6, arm swing is before the second connecting rod 4 will drive to play the exercise effect to muscle, tool Body, electric pushrod 6 specifically acts the electromyography signal measured by myoelectric sensor and the wrist measured by wrist detecting part 2 The active force of application controls.

As the preferred embodiment of the utility model, the myoelectric sensor includes wrap and patch electrode；The wrap It is worn on around postbrachium and closely surrounds the postbrachium；Several described patch electrodes are exposed to the inner peripheral surface and abutting of wrap In the surface of postbrachium, for detecting electromyography signal from the corresponding position of the postbrachium.When wrap closely surrounds on postbrachium, patch Plate electrode is close to postbrachium surface, so as to detect electromyography signal.Specifically, correspond to the bicipital muscle of arm and the upper arm three in wrap Patch electrode is arranged in the position of flesh, and when forearm collapses, the bicipital muscle of arm plays a major role, at this point, the myoelectricity of bicipital muscle of arm output Signal is much stronger than the electromyography signal that the triceps muscle of arm exports, and when forearm opens, the triceps muscle of arm plays a major role, at this point, the upper arm three The electromyography signal of flesh output is much stronger than the electromyography signal that the bicipital muscle of arm exports.It can be exported according to the triceps muscle of arm and the bicipital muscle of arm Electromyography signal, to determine the state of forearm, for example, open, collapse or static etc., when muscle reaches higher pain level, Forearm is static, so as to know angular range that forearm can be swung, so that the second connecting rod 4 of control drives by easy stages The different angle of preceding arm swing.

Preferably, the wrap is band-like, is provided with the first of velcro hook surface on two end one of the wrap Velcro, it is another on be provided with the second velcro of velcro hair side.Wrap is closely surrounded into postbrachium setting by velcro, On the one hand it is convenient for the wearing and storage of myoelectric sensor, is on the other hand adapted to different postbrachium sizes.

Referring to figure 2., for the ease of postbrachium fixed part 1 to be worn on postbrachium, the postbrachium fixed part 1 is open at one end Cyclic structure.

Referring to figure 4. to Fig. 8, the wrist detecting part 2 includes interior wrist and shell 24；The interior wrist is for placing The cyclic structure of wrist；Opposite sides in the shell 24 is provided with force-sensing sensor；The shell 24 is set in described The outside of wrist, and the force-sensing sensor is in contact with the outer wall of the interior wrist.

When in use, wrist is placed in interior wrist, and shell 24 is buckled in the outside of interior wrist, and two power on shell 24 Dependent sensor is in contact with the outer wall of interior wrist.Since wrist is placed in interior wrist, rather than it is secured directly on shell 24, Wrist is freely rotated in this, and interior wrist can also be with stress.Moreover, force-sensing sensor is contacted with the outer wall of interior wrist, power The power that dependent sensor is subject to is vertical with forearm, both the not interference of friction factor, also available more accurate stress model.

When wrist is placed in interior wrist, needs to be steadily contacted with the inner wall of interior wrist, on the one hand avoid wrist from interior Deviate from wrist, the power of the force-sensing sensor output on the inside wrist of another aspect wrist and shell 24 is more stable.In order to It can be steadily contacted with the inner wall of interior wrist convenient for wrist, interior wrist is arranged to the first wrist 21 and the second wrist of dismantling connection 22, when the first wrist 21 and the second wrist 22 are dismantled, wrist is placed on one of wrist, is then assembled another wrist On, wrist is stuck in complete in wrist to be formed.

Referring once again to Fig. 4, Fig. 5 and Fig. 7, one of them end of first wrist 21 and second wrist 22 is opened Equipped with card slot 211, the buckle 221 with the card slot 211 clamping is provided on another end.In this embodiment, first It can be on-fixed connection between wrist 21 and the second wrist 22, after the first wrist 21 and the second wrist 22 are engaged by clamping, benefit Interior wrist is accommodated with shell 24 so that the first wrist 21 and the second wrist 22 are inseparable.Preferably, the shell 24 is 221 connection structures of dismountable buckle.

Since wrist is substantially oblong-shaped, the cross section of the inner wall of the interior wrist is preferably ellipse, please refer to Fig. 1 and Fig. 6 can make wrist and the inner wall of interior wrist well contact.

Further, the adjustable section of the ellipse can only change interior wrist on the basis of not changing shell 24 The size in portion, so that it may solve the wrist sizes different problems of different patients.

As the preferred embodiment of the utility model, boss 23, the shell 24 are equipped on the outer wall of the interior wrist The annular groove (not shown) matched with the boss 23 is provided on the wall surface contacted with the interior wrist.Pass through boss 23 With the cooperation of annular groove, interior wrist can be freely rotated in shell 24, in addition, further, the shell 24 with it is described The cross section for the wall surface that interior wrist contacts with each other is rounded.It is appreciated that the ring on the wall surface that shell 24 is contacted with interior wrist Equipped with boss 23, it is provided with the annular groove matched with boss 23 on the outer wall of interior wrist, can play the same role.

As another preferred embodiment of the utility model, Fig. 8 is please referred to, setting is set there are two opposite on the shell 24 The opening of the first groove 241 and the second groove 242 set, first groove 241 and second groove 242 is towards described interior Wrist, the first force-sensing sensor are set in first groove 241, and the second force-sensing sensor is set to second groove In 242.Specifically, when in use, the first groove 241 is located at close to the side on ground, and the second groove 242 is located remotely from ground Side when the output numerical value of the second force-sensing sensor becomes larger, illustrates forearm when the output numerical value of the first force-sensing sensor becomes smaller Motion state in gathering；When the output numerical value of the first force-sensing sensor becomes larger, the output numerical value of the second force-sensing sensor When becoming smaller, forearm is in the motion state opened.After knowing the motion state of forearm, arm rehabilitation device can be carried out more preferable Control, to reach better rehabilitation effect.

Specifically, the gravity of forearm can be calculated using the second force-sensing sensor, and control arm rehabilitation device gives The constant resistance of forearm.When forearm is lain in a horizontal plane on loading end, the output numerical value of the first force-sensing sensor is the weight of forearm Power.When forearm collapses, and the angle between forearm and loading end (namely horizontal plane) is less than 90 °, produced by forearm downwards Mechanical resistance hinders forearm to move, due to apply constant Resistance Value to forearm, at this point, the second connecting rod 4 on arm rehabilitation device The external force value of output should be the downward power that constant Resistance Value subtracts forearm generation, it should be noted that second connecting rod 4 It is equivalent to the ectoskeleton being worn on forearm；When forearm gathering, and the angle between forearm and loading end is greater than 90 °, forearm institute It generates downward power and helps forearm movement, equally, in order to guarantee that Resistance Value suffered by forearm is constant, the second connecting rod 4 The external force value of output should be constant Resistance Value and add the downward power that forearm generates；Similarly, when can calculate forearm opening, the The external force value of two connecting rods 4 output.

The external force value of the second connecting rod 4 output is calculated especially by following steps:

Step S100, when the output numerical value of first force-sensing sensor becomes smaller, the output of second force-sensing sensor When numerical value becomes larger, it is calculated using the following equation the drag from forearm:

X '=kcos θ,

Step S200, when the output numerical value of first force-sensing sensor becomes larger, the output of second force-sensing sensor When numerical value becomes smaller, it is calculated using the following equation the drag from forearm:

X '=- kcos θ,

X ' indicates the drag from forearm in formula, and k indicates that the gravity of forearm, θ indicate the angle that forearm lifts.It needs to illustrate , θ measures by the angular transducer being arranged in shaft 5.

Specifically, when the output numerical value of the first force-sensing sensor becomes smaller, the output numerical value of the second force-sensing sensor becomes larger When, illustrate that forearm is in the motion state collapsed；On the contrary, forearm is in the motion state opened.

Step S300 is calculated using the following equation the external force value of the second connecting rod 4 output:

X '=X-x ',

X ' indicates the external force value of the second connecting rod 4 output in formula, and X indicates preset Resistance Value.

When the power that forearm applies is greater than preset Resistance Value, forearm overcomes Resistance Value to move；When what forearm applied moves When power is not more than preset Resistance Value, forearm is moved by limitation, that is, is in motionless state.Specifically, when judgement forearm is in When the movement tendency of gathering, if the output numerical value of the second force-sensing sensor is greater than the external force value of the second connecting rod 4 output, forearm It is collapsed；When determining that forearm is in the movement tendency opened, connect if the output numerical value of the first pressure sensor is greater than second The external force value that extension bar 4 exports, forearm are opened.

Further, the force-sensing sensor includes spring and the varistor for being set to the spring one end, described Spring is in contact with the interior wrist.The power of wrist is transmitted on varistor by spring, and the size of power is converted to spring Length, i.e., if can control length can control force size.And when wrist detecting part 2 is placed in wrist, A constant power directly can be exported in wrist, it is closer with stress terminal (hand), it can more obtain an accurate actual loading. In addition, be different from for device for measuring force being placed in driving, since the power and the arm that measure in wrist are perpendicular, obtained stress mould Type is simpler and accurate.

The above is only the preferred embodiment of the present invention, and therefore it does not limit the scope of the patent of the utility model, It is all under the design of the utility model, equivalent structure transformation made based on the specification and figures of the utility model, or Directly/be used in other related technical areas indirectly and be included in the scope of patent protection of the utility model.

Claims

1. a kind of muscle rehabilitation device, which is characterized in that connect including postbrachium fixed part, wrist detecting part, first connecting rod, second Extension bar, myoelectric sensor, electric pushrod and main controller；The postbrachium fixed part and the myoelectric sensor are worn at postbrachium； The wrist detecting part is worn at wrist, for detecting the active force of wrist；Described first connecting rod one end and the postbrachium Fixed part is fixedly connected, and the other end is connect with one end of second connecting rod by shaft；Second connecting rod it is another End is fixedly connected with the wrist detecting part；Described electric pushrod one end is connect with the postbrachium fixed part, the other end with it is described The connection of second connecting rod；The main controller respectively with the myoelectric sensor, the wrist detecting part and the electric pushrod Electrical connection.

2. muscle rehabilitation device as described in claim 1, which is characterized in that the myoelectric sensor includes wrap and patch electricity Pole；The wrap is worn on around postbrachium and closely surrounds the postbrachium；Several described patch electrodes are exposed to wrap Inner peripheral surface and the surface for being tightly attached to postbrachium, for detecting electromyography signal from the corresponding position of the postbrachium.

3. muscle rehabilitation device as claimed in claim 2, which is characterized in that the wrap be it is band-like, two of the wrap Be provided with the first velcro of velcro hook surface on the one of end, it is another on be provided with the second velcro of velcro hair side.

4. muscle rehabilitation device as described in claim 1, which is characterized in that the wrist detecting part includes interior wrist and outer Shell；The interior wrist is the cyclic structure for placing wrist；Opposite sides in the shell is provided with force-sensing sensor；Institute The outside that shell is set to the interior wrist is stated, and the force-sensing sensor is in contact with the outer wall of the interior wrist.

5. muscle rehabilitation device as claimed in claim 4, which is characterized in that the interior wrist includes the first wrist of dismantling connection The end of one of portion and the second wrist, first wrist and second wrist offers card slot, on another end It is provided with the buckle with card slot clamping.

6. muscle rehabilitation device as claimed in claim 4, which is characterized in that it is equipped with boss on the outer wall of the interior wrist, The annular groove matched with the boss is provided on the wall surface that the shell is contacted with the interior wrist.

7. muscle rehabilitation device as claimed in claim 4, which is characterized in that be oppositely arranged there are two being arranged on the shell Groove, towards the interior wrist, the force-sensing sensor is set in the groove opening of the groove.

8. muscle rehabilitation device as claimed in claim 7, which is characterized in that the force-sensing sensor includes spring and setting In the varistor of the spring one end, the spring is in contact with the interior wrist.

9. such as the described in any item muscle rehabilitation devices of claim 1-8, which is characterized in that the muscle rehabilitation device further includes The angular transducer being set in the shaft.

10. such as the described in any item muscle rehabilitation devices of claim 1-8, which is characterized in that the postbrachium fixed part is one end The cyclic structure of opening.