CN218165577U

CN218165577U - Upper limb rehabilitation training device

Info

Publication number: CN218165577U
Application number: CN202220547670.5U
Authority: CN
Inventors: 郭祎莎; 李凯; 毕霞; 韩宇; 高振坤; 其他发明人请求不公开姓名
Original assignee: Zhoupu Hospital Pudong New Area Shanghai (zhoupu Hospital Affiliated To Shanghai Medical College)
Current assignee: Zhoupu Hospital Pudong New Area Shanghai (zhoupu Hospital Affiliated To Shanghai Medical College)
Priority date: 2022-03-14
Filing date: 2022-03-14
Publication date: 2022-12-30
Anticipated expiration: 2032-03-14

Abstract

The utility model discloses an upper limbs rehabilitation training device, including elbow adjustment mechanism, wrist adjustment mechanism, rotary mechanism, finger portion adjustment mechanism and control mechanism. The elbow adjusting mechanism comprises a first support plate, a second support plate and a first driving piece and is used for elbow joint flexion and extension training. The wrist adjusting mechanism comprises a third support plate, a fourth support plate and a second driving piece and is used for wrist joint rotation, internal and external rotation and flexion and extension training. The finger adjusting mechanism is sleeved on the hand and comprises a traction piece and a third driving piece for performing the flexion and extension training of the finger joint. The utility model discloses can carry out comprehensive rehabilitation training to elbow joint, wrist joint and finger joint, and control mechanism can be according to the operation of the first driving piece of predetermined program control, second driving piece and third driving piece on the one hand, and on the other hand can be according to the operation of the first driving piece of feedback drive, second driving piece and the third driving piece of patient's upper limbs action, can adjust in real time, trains more humanized for patient's recovered process.

Description

Upper limb rehabilitation training device

Technical Field

The utility model relates to the technical field of medical equipment, especially indicate an upper limbs rehabilitation training device.

Background

The main causes of the functional disorder defects of the hands and the upper limbs of the human body include cerebrovascular accidents, traffic accidents, industrial injuries and the like, and especially, the patients suffering from spinal cord injuries and stroke are in the majority. According to data statistics, 85% of stroke survivors have upper limb dysfunction, and the number is expanding day by day. In addition to surgical and pharmaceutical treatments, these patients can also fundamentally improve the upper limb dysfunction by means of a rehabilitation training plan prepared by a rehabilitee, and gradually return the patients to a healthy state.

The rehabilitation training device can effectively help the patient to complete rehabilitation training, so that the rehabilitation effect and the life quality of the patient can be improved, and the patient can be helped to return to the home and return to the life as early as possible. The rehabilitation training device has important clinical significance and social value for a huge number of stroke patients.

However, most of the existing rehabilitation training devices in China are single-joint unidirectional or horizontal shoulder-elbow joint motion, and do not have upper limb multi-joint three-dimensional space joint motion. Furthermore, the passive and assisted modes commonly used by the rehabilitation training device are mostly preset by a rehabilitation teacher according to the condition of a patient and cannot be adjusted in real time. Such training cannot perform comprehensive training on the upper limb joints such as the shoulder joint and the elbow joint of the patient, and has a certain limiting effect. Especially in the helping hand mode, current rehabilitation training device can not provide accurate helping hand value according to actual treatment demand to guarantee that the patient can all exert maximum strength under different angles, different motion circumstances.

Therefore, how to improve the technical defects in the prior art is always an urgent problem to be solved by those skilled in the art.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing an upper limbs rehabilitation training device makes the patient can carry out comprehensive, multidimension degree's rehabilitation training. Moreover, the upper limb rehabilitation training device does not need to manually select a required training mode, so that the training is more humanized, and the rehabilitation process of the patient is accelerated.

The utility model provides a technical scheme as follows:

an upper limb rehabilitation training device comprising:

the elbow adjusting mechanism comprises a first driving piece, a first support plate and a second support plate, wherein the first support plate and the second support plate are hinged to each other;

the wrist adjusting mechanism comprises a second driving piece, a third support plate and a fourth support plate, wherein the third support plate and the fourth support plate are hinged to each other, the third support plate is fixed to the forearm, the fourth support plate is fixed to the back of the hand, and the second driving piece is used for driving the third support plate to rotate relative to the second support plate and driving the fourth support plate to swing back and forth relative to the third support plate;

the finger adjusting mechanism is sleeved on the hand and comprises a traction piece and a third driving piece, and the third driving piece is used for driving the traction piece to move so as to perform flexion and extension training of the finger joint;

the control mechanism is used for controlling the operation of the first driving piece, the second driving piece and the third driving piece according to a preset program; or the operation of the first driving part, the second driving part and the third driving part is driven according to the feedback of the upper limb action of the patient.

In some embodiments, the control mechanism includes a three-dimensional force sensor to detect the amount of force applied by the patient and to transmit the received signal to the control module;

the control module controls the first driving element, the second driving element and the third driving element to operate according to the signals.

In some embodiments, the elbow adjustment mechanism is coupled to the wrist adjustment mechanism via a rotation mechanism;

the rotating mechanism comprises a sliding rail and a sliding part, the sliding rail is fixed on the second support plate, and the sliding part is fixed on the third support plate;

the sliding rail is provided with an arc-shaped sliding groove, and the sliding piece is arranged in the sliding groove in a sliding manner so as to enable the third support plate to rotate relative to the second support plate;

and two ends of the opening of the sliding groove are respectively extended with a limiting edge strip so as to limit the sliding piece in the sliding groove.

In some embodiments, the sliding member is fixed to the third support plate by a butt plate, and the butt plate and the third support plate together form a placing groove for placing the forearm;

and/or

The sliding piece is of an arc strip-shaped structure, and the sum of arc angles formed by the sliding piece and the sliding groove is larger than 360 degrees.

In some embodiments, the upper limb rehabilitation training device comprises:

an adjustment mechanism;

the adjusting mechanism is arranged between the elbow adjusting mechanism and the wrist adjusting mechanism and used for adjusting the distance between the elbow adjusting mechanism and the wrist adjusting mechanism.

In some embodiments, the first driving member is a first motor, the first support plate is hinged to the second support plate through a first connecting shaft, and the first motor is in driving connection with the first connecting shaft to drive the second support plate to swing back and forth relative to the first support plate;

the second driving part comprises a second motor and a third motor, the third support plate is hinged with the fourth support plate through a second connecting shaft, and the second motor is in driving connection with the second connecting shaft and used for driving the fourth support plate to swing back and forth relative to the third support plate;

the third motor is in driving connection with the third support plate and used for driving the third support plate to rotate in a certain angle range relative to the second support plate.

In some embodiments, the third driving member comprises at least a fourth motor, the traction member comprises at least five traction wires, and each finger corresponds to at least one traction wire;

the fourth motor operates to pull the pull wire in extension and flexion motion.

In some embodiments, the upper limb rehabilitation training device further comprises:

the sheath comprises a large arm sheath and a small arm sheath;

the big arm sheath is arranged on the big arm and used for fixing the first supporting plate on the big arm, at least one massage ball is arranged in the big arm sheath, and the massage ball is electrically connected to the control mechanism;

the forearm sheath is arranged on the forearm, and the second support plate and the third support plate are fixed on the forearm.

In some embodiments, the inner side surfaces of the first, second, third and fourth struts are configured in a curved configuration to conform to the shape of the patient's upper limbs.

and the control part is in signal and/or electric connection with the control mechanism and is used for controlling the operation of the first driving part, the second driving part and the third driving part in real time.

The technical effects of the utility model lie in:

in this patent, through setting up elbow adjustment mechanism, wrist adjustment mechanism and finger portion adjustment mechanism, make the patient carry out the rehabilitation training to elbow joint, wrist joint and finger joint, and these three kinds of rehabilitation training can go on simultaneously, also can go on alone, make the patient carry out the rehabilitation training comprehensively. In addition, the control mechanism can control the operation of the elbow adjusting mechanism, the wrist adjusting mechanism and the finger adjusting mechanism according to a program on one hand, and can drive the operation of the elbow adjusting mechanism, the wrist adjusting mechanism and the finger adjusting mechanism according to the feedback of the actions of the upper limbs of the patient on the other hand, so that the training mode of the patient is increased, the real-time adjustment can be realized, and the rehabilitation process of the patient is accelerated.

Drawings

The present invention will be described in further detail with reference to the following drawings and detailed description:

fig. 1 is a schematic structural view of an upper limb rehabilitation training device provided by the present invention;

fig. 2 is a schematic perspective view of an elbow adjusting mechanism and a wrist adjusting mechanism provided in an embodiment of the present invention in a state;

fig. 3 is a schematic perspective view of an elbow adjusting mechanism and a wrist adjusting mechanism provided in an embodiment of the present invention in another state;

fig. 4 is a schematic perspective view of an elbow adjusting mechanism and a wrist adjusting mechanism according to another embodiment of the present invention;

fig. 5 is a schematic perspective view illustrating an elbow adjusting mechanism and a wrist adjusting mechanism according to another embodiment of the present invention;

fig. 6 is a schematic perspective view of a second support plate provided by the present invention;

fig. 7 is a schematic perspective view of a third support plate provided in the present invention;

fig. 8 is a schematic perspective view of an elbow adjusting mechanism provided by the present invention;

fig. 9 is a schematic perspective view of a wrist adjustment mechanism provided in the present invention;

fig. 10 is an operation flowchart of the upper limb rehabilitation training device provided by the present invention.

The reference numbers illustrate:

100. an elbow adjustment mechanism; 110. a first support plate; 120. a second support plate; 130. a slide rail; 131. a chute; 132. limiting edge strips; 140. a first coupling shaft;

200. a wrist adjustment mechanism; 210. a third support plate; 211. a butt plate; 212. a placement groove; 220. a fourth support plate; 230. a slider; 240. a second coupling shaft;

300. a finger adjustment mechanism;

401. a big arm guard arm; 402. an upper arm oversleeve; 403. a small arm guard arm; 404. a small arm oversleeve; 405. and (7) fixing the belt.

Detailed Description

In order to more clearly illustrate embodiments of the present invention or technical solutions in the prior art, specific embodiments of the present invention will be described below with reference to the accompanying drawings. It is obvious that the drawings in the following description are only examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be obtained from these drawings without inventive effort.

For the sake of simplicity, only the parts related to the utility model are schematically shown in the drawings, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".

It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

In this context, it is to be understood that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In addition, in the description of the present application, the terms "first," "second," and the like are used only for distinguishing the description, and are not intended to indicate or imply relative importance.

According to an embodiment of the present invention, referring to fig. 1 to 10, an upper limb rehabilitation training device comprises an elbow adjusting mechanism 100, a wrist adjusting mechanism 200, a finger adjusting mechanism 300 and a control mechanism. The elbow adjusting mechanism 100 includes a first driving member, and a first support plate 110 and a second support plate 120 hinged to each other, where the first support plate 110 is fixed to the upper arm, and the second support plate 120 is fixed to the lower arm. The first driving member is used to drive the second support plate 120 to swing back and forth relative to the first support plate 110. Correspondingly, the wrist adjustment mechanism 200 includes a second driving member, and a third supporting plate 210 and a fourth supporting plate 220 hinged to each other, the third supporting plate 210 is fixed to the forearm, and the fourth supporting plate 220 is fixed to the back of the hand. The second driving member is used to drive the third support plate 210 to rotate relative to the second support plate and to drive the fourth support plate 220 to swing back and forth relative to the third support plate 210. The finger adjusting mechanism 300 is sleeved on the hand and includes a traction member and a third driving member, the third driving member is used for driving the traction member to move, so as to perform the joint flexion and extension training.

The control mechanism is used for controlling the operation of the first driving piece, the second driving piece and the third driving piece, and mainly has two control modes, namely, the control mechanism controls the operation of the first driving piece, the second driving piece and the third driving piece according to a program; and the control mechanism drives the first driving part, the second driving part and the third driving part to operate according to the feedback of the upper limb action of the patient.

In the present embodiment, the elbow adjustment mechanism 100 is used for rehabilitation training of elbow joint flexion and extension, the wrist adjustment mechanism 200 is used for rehabilitation training of wrist joint rotation, internal and external rotation, and flexion and extension, and the finger adjustment mechanism 300 is used for rehabilitation training of finger joint flexion and extension. Specifically, when the second plate 120 swings back and forth relative to the first plate 110, the forearm of the patient can be driven to swing back and forth, so that the flexion and extension training of the elbow joint can be realized. When the fourth support plate 220 swings back and forth relative to the third support plate 210, the hands of the patient can be driven to swing back and forth, so that the flexion and extension training of the wrist joint is realized; when the third support plate 210 rotates relative to the second support plate, the wrist of the patient can be driven to rotate, so that the internal and external rotation training of the wrist joint is realized; when the third plate 210 rotates relative to the second plate, the fourth plate 220 swings back and forth relative to the third plate 210, and the wrist joint rotation training can be realized. When the traction piece moves, the fingers of the patient can be driven to bend and straighten, so that the bending and stretching training of the finger joints is realized.

Furthermore, the elbow adjustment mechanism 100, the wrist adjustment mechanism 200 and the finger adjustment mechanism 300 have respective driving members, and can be operated simultaneously or independently under the control of the control mechanism, so that the patient can perform rehabilitation training from multiple dimensions more comprehensively.

In addition, the control mechanism in this embodiment mainly has two control modes, one is that the control mechanism can control the operation of the first driving element, the second driving element and the third driving element according to a preset program, and the other is that the control mechanism can drive the operation of the first driving element, the second driving element and the third driving element according to the feedback of the upper limb movement of the patient. The two control methods are combined, so that the rehabilitation training is more humanized, and the rehabilitation process of the patient is accelerated.

Specifically, the control mechanism comprises a three-dimensional force sensor and a control module, the three-dimensional force sensor can detect the force applied by the patient and transmit the received signals to the control module, and the control module controls the first driving piece, the second driving piece and the third driving piece to operate according to the received signals.

In this embodiment, referring to fig. 10, the upper limb rehabilitation training device mainly has three modes of passive training, assisted training and spasm inhibition. Before the patient is trained, the rehabilitee can determine a threshold value according to the actual situation of the patient, wherein the threshold value is the maximum strength requirement of the patient during rehabilitation training. Specifically, the patient wears the upper limb rehabilitation training device firstly, and the starting position of the upper limb action of the patient is determined and related data is recorded according to the treatment scheme. The rehabilitee then places the patient's upper limbs in the final position of the training session and records the relevant data. The patient then relaxes, starts the passive mode to repeat the just-trained activity, and automatically records the threshold.

When the three-dimensional force sensor does not sense the force applied by the patient within the sensing time, namely a passive training mode is adopted, the control module controls the first driving part, the second driving part and the third driving part to operate according to a preset program.

Specifically, in the present embodiment, the sensing time is 5s, and if the three-dimensional force sensor does not sense the force applied by the patient within 5s, the passive training mode is adopted. In actual production, can set up induction time according to actual conditions, do not do the restriction here, all be in the utility model discloses a within the protection scope.

It should be noted that the preset program can be preset before the patient trains, and can be adjusted in real time according to the training situation during the patient trains, so that the rehabilitation training is more humanized.

When the three-dimensional force sensor detects the force applied by the patient, the control module compares the force applied by the patient with a threshold value, if the force applied by the patient is smaller than the threshold value, a power-assisted training mode is adopted, and the control module controls the first driving piece, the second driving piece and the third driving piece to operate according to the force applied by the patient so as to assist the patient. Specifically, the magnitude of the assisting force is the magnitude of the preset driving force minus the force applied by the patient. If the force applied by the patient is larger than the threshold value, a spasm inhibiting mode is adopted, the motion amplitude of the patient is limited, and the muscle spasm caused by the over-exertion of the force is avoided.

In one embodiment, referring to fig. 2-9, the elbow adjustment mechanism 100 and the wrist adjustment mechanism 200 are connected by a rotation mechanism. The rotating mechanism includes a slide rail 130 and a sliding member 230, the slide rail 130 is fixed to the second support plate 120, and the sliding member 230 is fixed to the third support plate 210. The slide rail 130 is provided with an arc-shaped slide slot 131, and the sliding member 230 is slidably disposed in the slide slot 131, so that the third support plate 210 rotates relative to the second support plate 120.

It should be noted that both ends of the opening of the sliding slot 131 are extended with a limit edge 132 to limit the sliding member 230 in the sliding slot 131. Specifically, the limit edge 132 extends to two end surfaces of the sliding groove 131.

Preferably, in fig. 2 to 7, the opening of the arc of the sliding groove 131 faces to the side of the second plate 120 contacting with the forearm, i.e. the inner side of the second plate 120, so that the patient can perform the internal rotation and the external rotation of the wrist joint. Certainly, in actual production, if the opening of the circular arc that spout 131 is kept away from one side of forearm towards second extension board 120, the outside of second extension board 120 promptly also can realize the internal rotation and the external rotation of wrist joint, all be within the scope of protection of the utility model.

Specifically, the sliding groove 131 is formed on a side wall of the sliding rail 130 facing the inner side of the second plate 120. Correspondingly, the sliding groove 131 can be formed on a side wall of the sliding rail 130 facing the outside of the second support plate 120, and can also be formed on a side wall of the sliding rail 130 away from the second support plate 120.

Of course, other setting modes can be provided, which are not described herein one by one and are all within the protection scope of the present invention.

Further, in fig. 3 to 5, the sliding member 230 is fixed to the third support plate 210 through a butt plate 211, and preferably, the butt plate 211 and the third support plate 210 together form a placement groove 212 for placing the forearm, and the placement groove 212 can play a role of auxiliary fixation to ensure that the forearm does not shake when the patient performs wrist rotation, internal and external rotation and flexion and extension exercises.

Referring to fig. 3 to 5, in order to further prevent the sliding member 230 from separating from the sliding slot 131 during the sliding process, the sliding member 230 is configured as a circular arc strip, and the sum of the circular arc angles of the sliding member 230 and the sliding slot 131 is greater than 360 °. At this time, during the sliding process of the sliding member 230, one end of the sliding member has not been separated from the sliding slot 131, and the other end of the sliding member has entered the sliding slot 131, so that the sliding member cannot be easily separated.

Further, the arc angle of the sliding slot 131 is preferably 180 °, and the arc angle of the sliding member 230 is slightly larger than 180 °. If the arc angle formed by the sliding member 230 and the sliding slot 131 is too large, it is easy to cause inconvenience in putting on and taking off the elbow adjusting mechanism 100 and the wrist adjusting mechanism 200, and the usability thereof is affected.

As preferred, upper limbs rehabilitation training device still can include adjustment mechanism, locates between elbow adjustment mechanism 100 and wrist adjustment mechanism 200, adjusts distance between the two to the forearm length of most patients of adaptation enlarges the utility model provides an upper limbs rehabilitation training device's range of application.

Specifically, the distance between the elbow adjusting mechanism 100 and the wrist adjusting mechanism 200 can be adjusted by providing a telescopic rod on the second support plate 120, the third support plate 210 or the docking plate 211, but is not limited thereto, and can be flexibly provided according to actual needs.

In one embodiment, referring to fig. 8 to 9, the first driving member is a first motor, the first support plate 110 and the second support plate 120 are hinged by a first connecting shaft 140, and the first motor is drivingly connected to the first connecting shaft 140 for driving the second support plate 120 to swing back and forth relative to the first support plate 110.

In contrast, the second driving member includes a second motor and a third motor, the third support plate 210 is hinged to the fourth support plate 220 through a second connecting shaft 240, and the second motor is drivingly connected to the second connecting shaft 240 to drive the fourth support plate 220 to swing back and forth relative to the third support plate 210.

The third motor is in driving connection with the third support plate 210, and is used for driving the third support plate 210 to rotate within a certain angle range relative to the second support plate 120. Specifically, in the present embodiment, the third motor can drive the third support plate 210 to rotate within a certain angle range relative to the second support plate 120 by driving the sliding member 230 to slide back and forth on the sliding rail 130.

In one embodiment, the third driving member comprises at least one fourth motor, the traction member comprises at least five traction wires, and each finger corresponds to at least one traction wire. The fourth motor rotates to pull the traction wire to extend or flex the traction wire.

Specifically, the finger adjusting mechanism 300 is disposed in a wearable glove, the pulling wire is a steel wire rope guide wheel, and each finger joint is provided with at least one guide wheel, and the forward and reverse rotation of the motor is utilized to pull the steel wire rope to make the finger joint generate flexion and extension actions.

Further, the upper limb rehabilitation training device can also comprise a sheath, and the sheath comprises a large arm sheath and a small arm sheath. The big arm sheath is installed on the big arm for fixing the first support plate 110 on the big arm, and at least one massage ball is arranged in the big arm sheath and electrically connected to the control mechanism. The forearm sheath is attached to the forearm and secures the second plate 120 and the third plate 210 to the forearm.

The utility model discloses a set up the massage ball to electric connection makes its vibrations of controlling the massage ball to strengthen the relevant neuromuscular contraction of patient, improves the motion unit and recruits, increases proprioceptive feedback. Similarly, the preset program can be preset before the training of the patient, and can be adjusted in real time according to the training condition when the patient trains, so that the rehabilitation training is more humanized.

Specifically, the massage balls are centrally placed at the biceps brachii, triceps brachii, flexor forearm, and extensor forearm.

Further, referring to fig. 1, the forearm sheath further includes a forearm guard 401 and a forearm sleeve 402, and the forearm sleeve 402 is provided as an inner liner inside the forearm guard 401. The large arm guard 401 is made of hard plastic to support and protect the patient's large arm. The forearm sleeve 402 is made of cotton cloth and has a plurality of securing straps 405 secured thereto for securing to the patient's forearm. Further, forearm sleeve 402 may also extend to the patient's shoulder, being secured to the forearm and shoulder by securing strap 405. As preferred, be equipped with the magic subsides on this fixed band 405, realize fixing through the laminating of magic subsides, nevertheless be not limited to this, go back accessible setting up the snap fastener in actual production and fix etc. all be in the utility model discloses a within the protection scope.

Similarly, the arm protector further includes an arm protector 403 and an arm cuff 404, and the arm cuff 404 is provided inside the arm protector 403 as an inner liner. Forearm guard 403 is made of a rigid plastic material to support and protect the patient's forearm. The forearm sleeve 404 is made of cotton cloth and is fixed with a plurality of fixing bands 405 for fixing on the patient's forearm.

Specifically, the massage balls are disposed in the interlayer between the small arm protection arms 403 and the small arm sleeve 404, and the sponge is used to fill the gap, so as to increase the comfort of the patient.

To further improve the comfort of the patient, the inner sides of the first, second, third and

fourth plates

110, 120, 210 and 220 can be curved to fit the shape of the upper limbs of the patient.

In one embodiment, the upper limb rehabilitation training device further comprises a control member, which is in signal and/or electrical connection with the control mechanism, and is used for controlling the operation of the first driving member, the second driving member and the third driving member in real time. Of course, the control piece can also control the vibration of the massage ball, which are all the schemes that can be realized by the embodiment. Preferably, the control member may be an independently provided remote controller, and the same effect as above can be achieved by remote control of the remote controller.

Furthermore, the remote controller is also provided with a display screen for displaying the training parameters of the patient for the rehabilitation teacher to read.

Specifically, referring to fig. 10, when performing rehabilitation training, the patient wears the upper limb rehabilitation training device provided in this embodiment first, and then the rehabilitation engineer operates the remote controller to enter the joint angle setting page, determines the initial position of the patient's training action according to the treatment protocol, and records the angle of each joint at the initial position with the remote controller. And then, the upper limbs of the patient are swung to the final position of the training action by the rehabilitation teacher, the angle and the movement speed of each joint at the final position are recorded by the remote controller, the passive training mode is started after the patient is instructed to relax, and the threshold value is recorded. And finally, the upper limb rehabilitation training device automatically switches the training mode according to the force applied by the patient.

It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations should also be regarded as the protection scope of the present invention.

Claims

1. An upper limb rehabilitation training device, comprising:

the wrist adjusting mechanism comprises a second driving piece, a third support plate and a fourth support plate, the third support plate and the fourth support plate are hinged to each other, the third support plate is fixed to the forearm, the fourth support plate is fixed to the back of the hand, and the second driving piece is used for driving the third support plate to rotate relative to the second support plate and driving the fourth support plate to swing back and forth relative to the third support plate;

the control mechanism is used for controlling the operation of the first driving piece, the second driving piece and the third driving piece according to a preset program; or the first driving part, the second driving part and the third driving part are driven to operate according to the feedback of the upper limb actions of the patient.

2. The upper limb rehabilitation training device of claim 1,

the control mechanism comprises a three-dimensional force sensor and a control module, wherein the three-dimensional force sensor is used for detecting the force applied by the patient and transmitting a received signal to the control module;

3. The upper limb rehabilitation training device of claim 1,

the elbow adjusting mechanism is connected with the wrist adjusting mechanism through a rotating mechanism;

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

the sliding piece is fixed on the third support plate through a butt plate, and a placing groove for placing the forearm is formed by the butt plate and the third support plate;

and/or

5. The upper limb rehabilitation training device of claim 1, comprising:

an adjustment mechanism;

6. The upper limb rehabilitation training device of any one of claims 1-5,

the first driving part is a first motor, the first support plate is hinged with the second support plate through a first connecting shaft, and the first motor is in driving connection with the first connecting shaft and used for driving the second support plate to swing back and forth relative to the first support plate;

7. The upper limb rehabilitation training device of any one of claims 1-5,

the third driving part comprises at least one fourth motor, the traction part comprises at least five traction wires, and each finger at least corresponds to one traction wire;

the fourth motor operates to pull the pull wire into extension and flexion motion.

8. The upper limb rehabilitation training device of any one of claims 1-5, further comprising:

the sheath comprises a large arm sheath and a small arm sheath;

9. The upper limb rehabilitation training device of any one of claims 1-5,

the inner side surfaces of the first support plate, the second support plate, the third support plate and the fourth support plate are in a curved surface structure so as to be adapted to the shape of the upper limb of a patient.

10. The upper limb rehabilitation training device of any one of claims 1-5, further comprising:

and the control piece is in signal and/or electric connection with the control mechanism and is used for controlling the operation of the first driving piece, the second driving piece and the third driving piece in real time.