TW200526185A - Resistance-guided dynamic upper limb training apparatus - Google Patents

Abstract

The present invention relates to a resistance-guided dynamic upper limb trainer, comprising a base, a shifter, and a controller. The shifter is installed in the slot way of the base, and equips with a slide that connected with the stress detector. The base of the shifter also equips another slide that may shift and move along through the lead screw. The controller may predetermine the stress of size, the traveling speed, the distance and the mode of the stress detector. When accepting a stress on the stress detector, produced by the rehabilitation trainee, and the predetermined resistance value is reached. The controller can control rotation of the lead screw, and drives the shifter of the slide migrating, then produces movement. Consequently, it achieves the effect of the upper limb rehabilitation training.

Description

200526185 [Technical field to which the invention belongs] The present invention relates to a resistance-guided power-type upper limb training device, in particular, to use? The control unit can set the force magnitude, moving speed, and distance of the force sensor, and can set different parameters and modes for the rehabilitation person in different conditions, so as to achieve the best rehabilitation effect. [Previous technology] At present, people with a disability or stroke in the upper limbs, because their upper limbs cannot use the sheep to take objects M, must use some rehabilitation equipment to perform rehabilitation exercises such as stretching training on the upper limbs, so that their upper limbs It is able to restore strength and movement, so as to cope with the movements that need to be used in daily life. The structure of these rehabilitation equipment, as shown in the new type of patent publication No. 563536 "Rehabilitation Device" patent, mainly lies on the main frame. — A base plate, a seat for the rehabilitation can be fixed at the appropriate position of the base plate, and the base plate is provided with an upwardly extending arm on both sides of the front of the seat, for the support device to slide the support device A cushion is provided for the chest of the rehabilitation person, and a support rod supporting the forearm of the rehabilitation person is provided on each side of the sinus cushion, and the distance between each branch can be adjusted to apply to different Rehabilitation of body shape. The support device is slidably arranged in the two arms of the main frame with the outer sides of the support rods, and the power device is connected to the support device with a connecting member for the power device to drive the support device to the support device. Up and down movement between the two arms of the main frame, the rehabilitation of the hands of the rehabilitation person can be stretched up and down to drive training 'these rehabilitation equipment, because the power device is used to drive the support device to move up and down 'While pulling the rehabilitation person's upper limbs to move. However, the upper limb of the rehabilitation person cannot exert force on their own ’so it cannot be performed on the hand of the rehabilitation person.

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Rehabilitation training such as exerting force, a # t t α > < ^ Therefore its efficacy is quite limited. Therefore, in view of the fact that the conventional rehabilitation device has the above-mentioned various defects, 'the inventor has studied it with great concentration, and after many trials and modifications, he was able to invent the invention. [Summary of the Invention] Another system is to provide a force sensor that can set the force magnitude, moving speed, distance, and different training modes, as a rehabilitation of upper limb force training and stretching and bending movements, and can target different upper limb obstacles. For different force training, you can also move independently for rehabilitation of the upper limbs to achieve the best rehabilitation effect and multi-variable training effects. This resistance-guided upper limb training device is especially suitable for strokes and spinal cord injuries. Rehabilitation training for patients with neuromuscular disease. It is characterized in that: the base is provided with a channel; the moving device is arranged in the channel of the base; the moving device is provided with a first slider which slides on the first slide rail; The first slider is provided with a grip, and the front end of the first slider is connected to the force sensor through a ball joint, and the second part of the mobile device is provided with a second slider. The second slider is It is connected to the lead screw and slides on the second slider. The control unit is set on the base and uses the delta force of the force sensor, moving speed, distance and training mode. When the load sensor reaches the set resistance value, it will control the lead screw to rotate to drive the slider to move straight at a constant speed. [Embodiment] First, referring to the first figure, the present invention mainly includes a base (1), a mobile device (2), and a control unit (3), of which:

Page 7 200526185 V. Description of the invention (3) The base (1) is provided with two opposite channels (丨 丨 /. The mobile device ⑴, as shown in the second figure, is a linear flat σ from χ_γ to the direction σ 2 Cheng 'is located in the channel ⑴ of the base ⑴), the mobile device ⑺ slides on the submersible (2 1 1), and 篦 ,, code? S " The slider (21) is provided with a grip (22), =, a slider (2D front end is connected to a receiving two (23) through a ball joint (212), and the ball joint (212) is used to make the force sensor 受; = horizontal push, pull, The bottom of the mobile device 设有 is provided with two adjustment bases (24) 'The two sides of the adjustment base (24) are provided with-(25) and the bottom of the mobile device (2) is provided with a second slider Γ2: ) Γ: (f) is provided for penetrating connection to the guide plate ⑵1) and the second screw ㈣), and the bottom of the second slider (25) can be connected to the second slide rail (2 6 u W i? Limit switches are provided at the two ends of the two screws (2 6): "12 (" 61) can be driven by a motor (28). In addition, a retractable support is connected to " () Seat (29), with second and third locks at its intended joint and telescopic place respectively (291) and (292) The manufacturing list (3) is set on the base ⑴. The control unit (3) can be set to passive mode and active mode to set the crying of the force sensor (23) ... J 1 movement speed, distance and different training modes, #force induction: (^ 3) when the bearing reaches the set resistance value, it will control the motor to move ^ rod ⑼) to rotate at a constant linear speed, so that the lead screw ( 26) The first slider (2 5) on the top is moved. In use, as shown in the second and third figures, the rehabilitation of the poor upper arm function

Page 8 200526185 V. Description of the invention (4) Hold the grip (22), place the forearm on the holder (29), and adjust the extension length of the two holders (29) and their relative angles , And then tighten the second and third locking elements (2 9 1) and (2 9 2) to match the shape of different rehabilitation people. When adjusting the distance between second-hand, you can adjust the two adjustment seats (24 ) Make a horizontal movement, and then tighten the first locking element (241), you can adjust different second-hand spacing, when the rehabilitation person wants to perform force rehabilitation with upper limb force, it can pass the control unit (3) Select different rehabilitation training modes, and set according to the left and right of the rehabilitation person using different degrees of force. If the force is large, you can set the force of the force sensor (2 3) Large, fast moving speed and long distance, conversely, when the force of the force is small, the bearing force of the force sensor (2 3) should be small, the moving speed is slow and the distance is short, when the force sensor (23) is subject to After the force setting parameters are completed, the two hands of the rehabilitation person can hold the grips on the first slider (21) respectively. 22), and then start the rehabilitation training [as shown in the fourth figure], the following describes the training mode set by the control unit (3) separately as follows: 1. Active mode; 1. Unilateral training by the upper limb training device Active unilateral traction. It is suitable for rehabilitation when the upper limbs of the rehabilitation are completely unable to exert force. It can be used with one hand for training. The lead screw (26) is completely rotated by itself to drive the device (2). training. Resection of cuts 2. Bilateral training-Bilateral step or alternating pattern actively performed by the upper limb trainer. ^ For the training of both hands for rehabilitation people, the same is performed by the lead screw (2 6).

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To move to move the mobile device (2). a. If it is synchronous, the second slider (25) ^,-! ^ second screw (26) when the lead screw (26) rotates, b. If it is to move forward and backward alternately. (25) On the second slide (shown on 2f, it is the second and second sliders. Second, passively move after the passive movement. ::: Set the resistance value on one side and operate on one side. Start pushing and pulling, # 笛: ... the grip (22) on the block (21), open the inscription: the slider (21) on the-slide handle (2⑴

3 m (23) through the ball joint (212) to accurately feel the thrust or pulling force of the ^ slider. When the pushing or pulling force reaches the set value, the force sensor (2 3) can transmit the signal to the control unit ( 3), the control unit (3) controls the motor (28) to drive the lead screw (26) to rotate, so that the second slider (25) on the lead screw (26) starts to move on the second slider (27) and Through the first slider (2 5), the entire group of mobile devices (2) is driven to move on the guide screw talent (26). 'The moving range of the second slider (25) on the guide screw (26)' can be controlled by the control unit ( 3) Make a preset according to the length of the upper limbs of the rehabilitation person,

Within the movement range set here, the force sensor (23) will move the second slider (25) forward or backward according to the pushing or pulling force it feels. Stretching and flexing rehabilitation, and can achieve force rehabilitation training of upper limbs at the same time. If the second slider exceeds the set distance due to a fault, it will touch the limit switch (2 6 1) at the two ends of the lead screw (2 6), and stop the lead screw (2 6) from continuing to rotate. 2 · Bilateral training-Bilateral set resistance value, bilateral operation, can be synchronized

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Or alternating patterns. The hands of the healthy person hold the grip (22) on the first slider (21), push or pull the second one, and when the force sensor (23) feels the set resistance ^ 日 卞 ' The second slider (25) will be moved forward or backward on the second slider (27), so that the upper limbs of the rehabilitation person can stretch and bend back and forth for rehabilitation. , Q7, a • If it is synchronous, the two second sliders (25) move forward and backward synchronously on the second slide rail (27). 〇P7, b • If it is an alternating pattern, the second and second sliders (25) move one by one on the second slide rail (27) one after the other. Bilateral training modes can be divided into: > 双 Bilateral motion independent mode; can be set separately according to the upper limbs with different f force values, the force on either side reaches the set value, so that the guide The second slider (25) on the screw (26) starts to move on the second slider (27) to achieve the best bilateral upper limb independent or alternating movement training effect. a Π · Double-side action synchronization mode; appropriate resistance values can be set for the hands of the rehabilitation person respectively. In this mode, the thrust or pull of the hands of the rehabilitation person must reach the resistance value set on the side at the same time. Only the second slider (2 5) on (2 6) will start to move on the second slider (2 7) to perform the upper limb rehabilitation training with synchronized movements. 3. Assisted type-set the resistance value on one side and no resistance value on the other side. In the rehabilitation person, one hand does not set the resistance value, and the other hand sets the resistance value. The hand without the resistance value set moves with the set resistance value hand to reach the rehabilitation training of the upper limbs (synchronous or alternating). Those who are completely unable to move with their hands can provide ideal bilateral rehabilitation exercises, which will help coordinate the upper limbs

Page 11 200526185 V. Description of Invention (7) Dynamic training. According to another embodiment of the present invention, as shown in the figure, the welding secret of the right-phase of Xishan Mountain is shown in the figure, wherein 6 on the base (1) has a relative branching channel (11A) to be disposed on On top of that, rehabilitation is provided, and the movement is intact (2) Bending training. Examining the force training and stretching of the present invention, another embodiment of the present invention is considered. For example, g ^ _ is provided with two opposite diagonal channels (the base in Figure 1 of the H ⑴ ⑴-Department h hing: Two (), for the whole group of mobile devices (2) to be set on it, to provide rehabilitation training for far-bend training. To achieve the oblique force training and stretching Re-embodiment of the present invention, as shown in the figure As shown in the figure, the base # in # is inserted / supported by an r support frame (A) ±, and a pressure cylinder 枢 is pivotally connected to the bottom of the base ⑴. ⑴The jacking is inclined Γ ΐThe tilting angle is from 0 ° to 60 °. There are a total of six different tilting angles to choose from for rehabilitation training at different angles. In addition, the present invention has been made into a real object, As shown in the appendix, it can indeed achieve the above-mentioned efficacy purpose. Therefore, from the above description, it can be known that the embodiments of the present invention do have the following advantages: 1 · Every action of the present invention is a constant-speed linear motion, which is used in rehabilitation training Not easy to cause muscle injury, especially suitable for patients with stroke, spinal cord injury, neuromuscular disease. ^ 2 · Invention may be directed to different upper limb disorders, text setting force magnitude force sensor, the moving speed and distance, pattern, and thus to achieve the best effect of rehabilitation.

200526185 V. Description of the invention (8) 3 · The present invention can achieve joint mobility training of upper limb muscles and upper limb muscle tension function (No 4. · The present invention can provide [active and effective rehabilitation factors to encourage rehabilitation The second slider can be used in the second slide to improve the motivation of the rehabilitator to actively participate, so the rehabilitation effect is excellent. The function of the exercise mode, so the present invention ^ Patients. Force training, upper limb motor function training, limb push and pull force Measure, and reduce irregular posture or movements). Participation] and [repetitive exercises] must meet the set force application standards, move up and perform stretching and bending training, and 'really achieve the goal of effective rehabilitation. Extremely poor patients can also provide upper limb application to apply in the Rehabilitation of various upper limb disorders

In summary, the present invention is effective, and in the same product, A and u have achieved the intended purpose of use and successors, so the present invention sees the same invention features known, publicly available patents ", want to say; The application requirements of the monthly patent, I love to mention according to law ...

Page 13 200526185 Brief description of the drawings [Illustration of the drawings] The first figure is a schematic perspective view of the present invention. The second figure is a combined sectional view of the present invention. The third figure is a schematic view of the structure (viewed from above) of the present invention. The fourth diagram is a schematic diagram of the operation of the present invention. The fifth figure is a schematic diagram of the alternate operation of the present invention. The sixth diagram is a schematic diagram of another embodiment of the present invention. The seventh diagram is a schematic diagram of another embodiment of the present invention. FIG. 8 is a schematic diagram of still another embodiment of the present invention. The attachment is a real photo made by the present invention. [Illustration of Symbols] (1) Base (11) Channel (11A) Horizontal Channel (11B) Slant Channel (2) Moving Device (21) First Slider (211) First Slide Rail (212) ) Ball joint (22) Grip (23) Force sensor (24) Adjustment base (241) First locking element (25) Second slider (251) Guide plate (26) Lead screw (261) Limit switch (27) Second slide rail (28) Motor (29) Mount (291) Second lock element (292) Third lock element (3) Control unit (A) Support frame (B) Cylinder

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Claims (1)

200526185, the other mobile device is connected to the yuan, its setting speed, resistance value line. Please move the slider on both sides of the patent, please move the slide and telescope on the patent, and the first lock on the bottom of the device in the patent. The bottom end of the item is surrounded by the two ends of the device of the first item, and the upper part of the device is provided with components around the part described in the first training mode. The above mentioned can be connected to the slide position, and the second one includes the powered upper limb training device, Xiao Dao; the dagger is included in the iii slot, and the mobile dress is placed on the rail The second slide block is connected to the subject by a ball joint, and the second slide block 7 卞 is connected to the subject by a ball joint. The second slide block is on the wide slide and slides on the first slide rail. In order to set the receiving force of the force sensor; away and training mode, when the force sensor is subject to capture, it will control the lead screw to rotate to drive the slide. 6. Patent application scope 1. A resistance guide base with grooves The mobile device is set on a first slider, and a grip sensor is provided on the first slider. The slider is used to continuously control the size of a single force and move to a set block for constant speed. 2. Rushen training device, its' The adjustment seat 3 · Rushen trainer, which is driven by a motor 4. Rushen trainer, which is at its pivot joint 5 · Rushen trainer, its resistance bow 丨 guided power upper limb for lateral movement of the adjustment seat resistance guide Powered upper limb slides, and the lead screw system is provided with limit switches. The resistance guides the powered upper limb for a telescopic mount and two locking elements. Resistance guided dynamic upper limbs Active mode and passive mode Resistance guided dynamic upper limbs as described in item 5 of the patent application Page 15 200526185 6. Scope of patent application The training device, in which the active mode includes unilateral training and bilateral training. 7 · The resistance guided dynamic upper limb training device as described in item 6 of the scope of patent application, wherein the bilateral training is divided into a synchronous type and an alternating type. 8. The resistance guided dynamic upper limb training device as described in item 5 of the scope of patent application, wherein the passive mode includes unilateral training and bilateral training. 9 · The resistance guided dynamic upper limb training device described in item 8 of the scope of patent application, wherein the bilateral training is further divided into a synchronous type, an alternating type and an assisting type. 10 · The resistance guided dynamic upper limb training device as described in item 8 of the scope of patent application, wherein the bilateral training is divided into a bilateral motion independent mode and a bilateral motion synchronization mode. '> 11 The resistance-guided power-up training device as described in item 1 of the scope of the patent application, wherein the channel on the base is set to be horizontal for the mobile power-on-type power-up for mobile devices 1 2 · The resistance limb training device according to item 1 of the scope of patent application, wherein the channel on the base is arranged obliquely. 1 3 · The resistance guide and limb training device as described in item 1 of the scope of patent application, wherein the base is pivoted on a support frame, and a pressure cylinder is connected to the guide force for lifting the base to tilt it. Kadoto. Pivot at the bottom of the base