CN211885313U - Upper and lower limb active and passive rehabilitation training device - Google Patents
Upper and lower limb active and passive rehabilitation training device Download PDFInfo
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- CN211885313U CN211885313U CN201922130083.7U CN201922130083U CN211885313U CN 211885313 U CN211885313 U CN 211885313U CN 201922130083 U CN201922130083 U CN 201922130083U CN 211885313 U CN211885313 U CN 211885313U
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- 238000012549 training Methods 0.000 title claims abstract description 46
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 29
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 28
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- 210000000707 wrist Anatomy 0.000 claims abstract description 3
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- 230000000087 stabilizing effect Effects 0.000 claims description 10
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- 238000012544 monitoring process Methods 0.000 description 4
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Abstract
The utility model discloses an active and passive rehabilitation training device for upper and lower limbs, which comprises an upper limb training handle, a lower limb training pedal, a CPU, a heart rate acquisition module and a pressure acquisition module; the heart rate acquisition module is a heart rate belt worn on the wrist of a user and used for detecting the heart rate of the user and transmitting the heart rate to the CPU; the pressure acquisition module is respectively arranged on the upper limb training handle and the lower limb training pedal and used for detecting the position information of the fixed limbs of the user and transmitting the position information to the CPU. The utility model discloses increased multiple sensors such as pressure sensor device, rhythm of the heart sensor device, data show in real time to report to the police unusual data, suggestion doctor or patient self carry out the intervention measure of abnormal conditions, strengthen the protection in the aspect of the safety in the patient use.
Description
Technical Field
The utility model relates to a rehabilitation training field, in particular to upper and lower limb owner passive rehabilitation training device.
Background
The active and passive rehabilitation training device for the upper and lower limbs is a rehabilitation training device for the upper and lower limbs, and the motor and the corresponding transmission structure drive the limbs to do circular motion, so that the musculoskeletal function of the limbs and the like can achieve the effect of rehabilitation treatment.
With the continuous development of science and technology, the requirements of people on rehabilitation equipment are also continuously improved. How to make the rehabilitation equipment not only can carry out the rehabilitation training, but also can carry out real-time supervision, warning to user's self health at the rehabilitation training in-process, is a problem that needs to solve.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the defects of the prior art and provide an active and passive rehabilitation training device for upper and lower limbs.
The purpose of the utility model is realized through the following technical scheme:
an active and passive rehabilitation training device comprises an upper limb training handle, a lower limb training pedal, a CPU, a heart rate acquisition module and a pressure acquisition module; the heart rate acquisition module is a heart rate belt worn on the wrist of a user and used for detecting the heart rate of the user and transmitting the heart rate to the CPU; the pressure acquisition module is respectively arranged on the upper limb training handle and the lower limb training pedal and used for detecting the position information of the fixed limbs of the user and transmitting the position information to the CPU.
The heart rate acquisition module comprises a heart rate sensor U1, a voltage stabilizing chip U2, a power supply unit U3, capacitors C1-C7, resistors R1-R3 and a connecting piece J1; wherein, heart rate sensor U1's pin 2, 3 connect resistance R1, R2's one end respectively, divide into two the tunnel after the other end of resistance R1, R2 connects: one path is connected with a pin 13 of a heart rate sensor U1 through a resistor R3, and the other path is directly connected with a pin 11 of a heart rate sensor U1; pin 4 of heart rate sensor U1 is grounded; pins 5 and 6 of the heart rate sensor U1 are respectively connected with pins 3 and 2 of the connector J1; pins 9 and 10 of the heart rate sensor U1 are connected with a pin 1 of a voltage stabilizing chip U2; pin 11 of heart rate sensor U1 is further divided into three ways: the first path is grounded through a capacitor C6, the second path is grounded through a capacitor C7, and the third path is connected with a port OUT of a power supply unit U3; pin 7 of connector J1 is divided into four ways: the first path is grounded through a capacitor C1, the second path is grounded through a capacitor C2, the third path is connected with a pin 5 of a voltage stabilizing chip U2, and the fourth path is connected with a pin 3 of a voltage stabilizing chip U2; a capacitor C3 is arranged between pins 4 and 6 of the voltage stabilizing chip U2; pin 1 of the voltage stabilization chip U2 is divided into three paths: the first path is connected with a port IN of a power supply unit U3, the second path is grounded through a capacitor C4, and the third path is grounded through a capacitor C5; pins 4, 5, 6 of the connector J1 are connected to pins 13, 3, 2 of the heart rate sensor U1, respectively.
The model of the heart rate sensor U1 is Max 30100. Max30100 is a wearable photoelectric blood oxygen heart rate sensor, and Max30100 is an integrated pulse blood oxygen and heart rate detection sensor. It uses two LED lights, one photodetector to optimize optics, and a low noise analog signal processor to detect the pulse oximetry and heart rate signals. The operation voltage of Max30100 is between 1.8V and 3.3V, and can be controlled by software, the standby current is extremely small and can be ignored, so that the power supply can keep the connection state in any time.
The model of the chip U2 is RCWL-9183.
The connecting piece J1 is CON 7.
The active and passive rehabilitation training device also comprises a motor connected with the CPU, and the motor is respectively connected with a current and voltage collector, a motor encoder and a motor overheating protection device; the current and voltage collector is used for collecting the current value and the voltage value of the motor in real time and transmitting the current value and the voltage value to the CPU; the motor encoder is used for recording the pulse number generated when the motor rotates and transmitting the pulse number to the speed detection device; and the speed detection device is used for detecting the rotating speed of the motor and transmitting the information to the CPU.
The CPU adopts stm32103VC series chips. High real-time performance and rich peripheral resources.
The number of times of counting of the motor encoder is 500 times/motor rotates once.
The speed detection device reads the value of the encoder every 10ms, and the CPU calculates the real-time speed and displays and changes the voltage value of the motor.
The sensor device may be implemented using a standard bluetooth protocol. The heart rate sensor device can adopt a heart rate belt, a heart rate arm belt and the like. The wireless communication protocol is a Bluetooth communication protocol and can also be other wireless communication protocols.
When the motor is started, the static current and voltage values of the motor need to be detected, and the static values need to be subtracted when the current trend is calculated.
Compared with the prior art, the utility model, following advantage and beneficial effect have:
1. the utility model discloses increased multiple sensors such as pressure sensor device, rhythm of the heart sensor device, data show in real time to report to the police unusual data, suggestion doctor or patient self carry out the intervention measure of abnormal conditions, strengthen the protection in the aspect of the safety in the patient use.
2. The utility model discloses monitoring patient's limbs fixed position reminds the patient to fix the limbs position again when the aversion appears. Improving the treatment effect.
3. The utility model discloses the change of heart rate in the monitoring treatment process. When an abnormal condition occurs, the problem is discovered and treated as soon as possible, so that the patient is helped in time.
4. The utility model discloses a general bluetooth module, with a plurality of independent sensor module, the integrated use that gets up reaches real time monitoring, the effect of various indexes, development cycle is short, at the commonality of each platform, the portability is strong.
Drawings
Fig. 1 is a block diagram of an active and passive rehabilitation training device according to the present invention.
Fig. 2 is a circuit diagram of the heart rate acquisition module of the present invention.
Fig. 3 is a circuit diagram of the pressure acquisition module of the present invention.
Fig. 4 is a schematic structural view of an active and passive rehabilitation training device of the present invention.
Wherein the reference numerals have the following meanings:
1-upper limb training handle and 2-lower limb training pedal.
Detailed Description
The present invention will be described in further detail with reference to the following examples and drawings, but the present invention is not limited thereto.
Referring to fig. 1-4, an active and passive rehabilitation training device comprises:
switching power supply: the electric performance is better, the volume is smaller, and the operation is convenient;
a human-computer interaction interface: setting the current rotating speed, system parameters such as spasm grade resistance grade and the like, and displaying data such as real-time speed, muscle tension and the like;
a CPU: a 100-pin stm32F103VC chip is adopted;
a direct current motor: the fluency is better, and the speed of the motor is more accurately calculated by connecting the encoder to the motor;
an encoder: the encoder adopts a magnetoelectric encoder, and 500 pulses are generated by the motor per rotation;
a current and voltage collector: the current of the motor can be collected in real time, the real-time state value of the muscle of the patient in the current treatment process can be fed back in real time, the spasm current value is a negative value and is medically called muscle tension, the resistance current is a positive value and is called muscle strength by a doctor; the data can be expanded into a database, and the data of a certain amount of patients can be collected to be used as corresponding clinical analysis data;
speed detection device: detecting the speed once every 10ms, calculating the output voltage value of the motor once by the CPU by adopting a pid algorithm for 10ms, and outputting the output voltage value by adopting a pwm control mode;
motor overheat protection device: when the temperature of the motor is too high, the output of the motor is closed, so that the damage to a patient and the motor is avoided;
the Bluetooth communication module: all add bluetooth communication module in rehabilitation training ware, heart rate sensor module, the pressure sensor module, carry out wireless communication. The module is an integrated module, and the CPU in the rehabilitation training device can be communicated with the communication module through a serial port. The Bluetooth communication is easy to change on the current hardware platform, is not limited by the hardware platform, and can achieve the purposes of shortening the development period and reducing the development difficulty.
Heart rate acquisition module: the finished heart rate belt on the market can be purchased, or the portable heart rate and blood oxygen tester and the heart rate arm belt can be used for detecting the heart rate and blood oxygen for a long time. The heart rate belt is adopted, so that the heart rate belt is convenient to purchase and is convenient for a patient to wear.
A pressure acquisition module: the lower limbs adopt pressure insoles, and the number of the insoles with certain specifications is configured, for example, 35-42 yards. The upper limbs add the pressure hand pad in hand bracket position, and the lower limbs upper limbs can dispose the pressure hand pad of general size, can real-time supervision pressure variation.
The 2 sensors are all accessories of the machine and are in wireless communication with the machine. Its function is to monitor the entire treatment cycle of motion in real time. Early detection of sudden condition of the patient during the treatment process and warning of the patient or doctor to take treatment measures. The functions of the sensors are simple, and a programmable Bluetooth communication module can be adopted, so that the effects of data acquisition, calculation and data communication are achieved.
The method can be realized by the following technical scheme:
1. in the pedal position, a pressure sensor device is added at the handle position. A plurality of pressure collection points. And monitoring whether the posture of the patient has deviation in real time. When the pressure is monitored to be abnormal, a sound prompt is provided to prompt a therapist to help the patient to fix the position of the limb again.
2. The patient wears the heart rate belt in the treatment process, and the heart rate is monitored in real time. When the heart rate change rate exceeds a certain value, the motor of the instrument is slowly stopped to run, and a sound prompt is sent to prompt the patient that the patient is uncomfortable and needs rest or other auxiliary measures.
The specific work engineering is as follows:
and the power supply of the heart rate acquisition module is turned on, and the power supply indicator lamp is turned on. The power supply of the pressure acquisition module is turned on, and the power lamp is turned on. And the power supply of the upper and lower limb rehabilitation training devices is connected for power-on self-checking. The self-test ends after about 20 seconds. The interface displays the equipment connected with the current Bluetooth communication module. And if the connection is finished, the dark color is displayed, the sound prompt is given by clicking, the communication lamp on the corresponding equipment flickers, the gray color is displayed when the connection is not finished, the click does not respond, and the communication lamp does not respond. When the man-machine interaction interface displays that the communication lamps of the sensor devices flicker or not, if the communication lamps flicker, the active dynamic trainer is connected with the serial port to the PC to check whether the communication data are normal or not. The fault reason is searched, the fault is eliminated, the 2 sensor devices flicker with communication lamps, the man-machine interaction interface displays dark color display and is connected and operable, and the next operation can be carried out.
The human-machine interface displays that the patient wears the heart rate belt, and puts the pressure insole and the hand pressure sensing device of the upper limb. And in the self-checking process, the CPU acquires the static values of the sensors and displays the average value on a human-computer interaction interface. The treatment is started by clicking, and the treatment process is entered. The motor starts to slowly accelerate to a set speed and then drives the patient to do passive motion. The motor encoder generates a reduction ratio of 500 pulses per revolution. The upper limb reduction ratio is 15 and the lower limb reduction ratio is 13. The speed detection device collects the number of pulses of a motor encoder every 10ms, calculates a real-time speed value, and performs pid algorithm operation by taking the speed value as a parameter to change the output value of the motor. The current and voltage collector collects the current value of the motor in the treatment process and displays the value of the muscle force or the muscle tension of the patient. The resistance is variable during active movement, and the faster the speed is, the greater the resistance is, so that the muscle strength of the patient can be enhanced. Spasm is generated when the muscle tension is too high, and the upper and lower limb rehabilitation training devices can detect the spasm and relieve the spasm. The upper and lower limb rehabilitation trainers are automatically switched in a passive mode and an active mode along with the change of muscle strength.
During use, due to changes in treatment patterns and changes in patient posture such as: when the foot is in the initiative, in order to increase the speed and force the tiptoe, the positions of the sole and the heel are separated from the pedal; when the patient is passive, the muscle tension of the patient is not uniform, and the inner side or the outer side of the foot is separated from the pedal. The pressure acquisition module acquires a real-time data value, compares the acquired value with a static value, and if the acquired value is 2 points or less than 2 points, the motor slowly pauses, and the voice prompts that the posture of the patient is bad, so that a doctor needs to confirm the fixing mode of the limbs of the patient. Treatment may continue for the remaining time after confirmation. If the collected value is 3 points or a value larger than 3 points, when 3 points are detected, the rehabilitation training device prompts the posture of the patient to deviate by sound, and the patient is reminded of the treatment posture. When 4 points are detected, the rehabilitation training device can prompt that the posture is good and please continue training.
The heart rate value needs to be displayed on a human-computer interaction interface in real time. Patients require greater muscle strength to pedal or turn the motor under conditions of increasing resistance. Heart rate values increase significantly when human motion increases. When the change of the heart rate value is detected to be more than 50% or less than 50 and more than 100% compared with the static state, the rehabilitation training device processes the signal as an alarm signal, the motor is slowly suspended, the sound prompts that the change of the heart rate of the patient is overlarge, and the treatment of the residual time can be continued after the confirmation of a doctor.
The alarm sound prompt can adopt an audio chip, a loudspeaker is placed at a proper position of a human-computer interaction interface (a display screen), holes are formed in the placement position of the loudspeaker, sound transmission is facilitated, the volume is moderate, and the sound prompt is clear. The alarm sound should be clearly distinguished from the operating key sound.
The human-computer interaction interface displays the current real-time speed value and the muscle force or muscle tension value. When an alarm condition occurs, the interface prompts abnormity, the heart rate or pressure value is increased and becomes red, and the flashing frequency is accelerated. With an audible warning, the motor is slowly stopped. And after the abnormal condition is processed, the human-computer interaction interface returns to the normal state. Treatment continues until the treatment time is over. The treatment of the patient is stopped, and the human-computer interaction interface displays parameters such as active treatment time, passive treatment time, average power and the like. The patient takes off the pressure acquisition module and the heart rate acquisition module. The system is ready for use by the next patient.
The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all are included in the scope of the present invention.
Claims (9)
1. The utility model provides an active passive rehabilitation training device of upper and lower limbs, includes upper limbs training handle, lower limb training footboard, its characterized in that: the heart rate monitoring device also comprises a CPU, a heart rate acquisition module and a pressure acquisition module; the heart rate acquisition module is a heart rate belt worn on the wrist of a user and used for detecting the heart rate of the user and transmitting the heart rate to the CPU; the pressure acquisition module is respectively arranged on the upper limb training handle and the lower limb training pedal and used for detecting the position information of the fixed limbs of the user and transmitting the position information to the CPU.
2. The active and passive rehabilitation training device for upper and lower limbs of claim 1, wherein: the heart rate acquisition module comprises a heart rate sensor U1, a voltage stabilizing chip U2, a power supply unit U3, capacitors C1-C7, resistors R1-R3 and a connecting piece J1; wherein, heart rate sensor U1's pin 2, 3 connect resistance R1, R2's one end respectively, divide into two the tunnel after the other end of resistance R1, R2 connects: one path is connected with a pin 13 of a heart rate sensor U1 through a resistor R3, and the other path is directly connected with a pin 11 of a heart rate sensor U1; pin 4 of heart rate sensor U1 is grounded; pins 5 and 6 of the heart rate sensor U1 are respectively connected with pins 3 and 2 of the connector J1; pins 9 and 10 of the heart rate sensor U1 are connected with a pin 1 of a voltage stabilizing chip U2; pin 11 of heart rate sensor U1 is further divided into three ways: the first path is grounded through a capacitor C6, the second path is grounded through a capacitor C7, and the third path is connected with a port OUT of a power supply unit U3; pin 7 of connector J1 is divided into four ways: the first path is grounded through a capacitor C1, the second path is grounded through a capacitor C2, the third path is connected with a pin 5 of a voltage stabilizing chip U2, and the fourth path is connected with a pin 3 of a voltage stabilizing chip U2; a capacitor C3 is arranged between pins 4 and 6 of the voltage stabilizing chip U2; pin 1 of the voltage stabilization chip U2 is divided into three paths: the first path is connected with a port IN of a power supply unit U3, the second path is grounded through a capacitor C4, and the third path is grounded through a capacitor C5; pins 4, 5, 6 of the connector J1 are connected to pins 13, 3, 2 of the heart rate sensor U1, respectively.
3. The active and passive rehabilitation training device for upper and lower limbs of claim 2, wherein: the model of the heart rate sensor U1 is Max 30100.
4. The active and passive rehabilitation training device for upper and lower limbs of claim 2, wherein: the model of the chip U2 is RCWL-9183.
5. The active and passive rehabilitation training device for upper and lower limbs of claim 2, wherein: the connecting piece J1 is CON 7.
6. The active and passive rehabilitation training device for upper and lower limbs of claim 1, wherein: the motor is connected with the CPU and is respectively connected with the current and voltage collector, the motor encoder and the motor overheating protection device; the current and voltage collector is used for collecting the current value and the voltage value of the motor in real time and transmitting the current value and the voltage value to the CPU; the motor encoder is used for recording the pulse number generated when the motor rotates and transmitting the pulse number to the speed detection device; and the speed detection device is used for detecting the rotating speed of the motor and transmitting the information to the CPU.
7. The active and passive rehabilitation training device for upper and lower limbs of claim 1, wherein: the CPU adopts stm32103VC series chips.
8. The active and passive rehabilitation training device for upper and lower limbs of claim 6, wherein: the number of times of counting of the motor encoder is 500 times/motor rotates once.
9. The active and passive rehabilitation training device for upper and lower limbs of claim 6, wherein: the speed detection device reads the value of the encoder every 10ms, and the CPU calculates the real-time speed and displays and changes the voltage value of the motor.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112494273A (en) * | 2020-11-27 | 2021-03-16 | 山东海天智能工程有限公司 | Control device, method and system for brain-controlled wrist training |
| CN112619028A (en) * | 2020-12-03 | 2021-04-09 | 南京伟思医疗科技股份有限公司 | Active and passive rehabilitation multi-mode fusion composite training system |
| CN114288617A (en) * | 2022-01-12 | 2022-04-08 | 袁安琪 | Sports device for rehabilitation training |
| CN114949748A (en) * | 2022-05-07 | 2022-08-30 | 华思(天津)医疗健康管理有限公司 | Upper limb movement equipment and power control method thereof |
-
2019
- 2019-12-03 CN CN201922130083.7U patent/CN211885313U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112494273A (en) * | 2020-11-27 | 2021-03-16 | 山东海天智能工程有限公司 | Control device, method and system for brain-controlled wrist training |
| CN112619028A (en) * | 2020-12-03 | 2021-04-09 | 南京伟思医疗科技股份有限公司 | Active and passive rehabilitation multi-mode fusion composite training system |
| CN114288617A (en) * | 2022-01-12 | 2022-04-08 | 袁安琪 | Sports device for rehabilitation training |
| CN114288617B (en) * | 2022-01-12 | 2023-10-31 | 重庆医科大学 | Exercise device for rehabilitation training |
| CN114949748A (en) * | 2022-05-07 | 2022-08-30 | 华思(天津)医疗健康管理有限公司 | Upper limb movement equipment and power control method thereof |
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