TWI413517B - Upper limb rehabilitation device and process setting method thereof - Google Patents

Abstract

The present invention relates to an upper limb rehabilitation device, which comprises: a base; a driving unit, which is disposed on the base; an exercise arm connecting to the driving unit, wherein the driving unit drives the exercise arm to perform a reciprocation motion; and a program setting unit, which is disposed on a surface of the driving unit and between the exercise arm and the driving unit. In addition, the program setting unit comprises a rail and a plurality of point setting units, wherein the plurality of point setting units are disposed on the rail. When the exercise arm is reciprocating on the upper limb rehabilitation device, the driving unit changes the exercise mode of the exercise arm, once the exercise arm corresponds to one point setting unit.

Description

Upper limb rehabilitation device and its stroke setting method

The invention relates to an upper limb rehabilitation device, in particular to a limb rehabilitation device capable of setting a stroke for the rehabilitation person to achieve the correct rehabilitation according to the set rehabilitation stroke.

Because of the patients with nerve damage, most of them need to restore their original functions of muscles and joints by rehabilitation. Otherwise, they will easily cause contracture and lead to the deterioration of muscles and joints. Some of these patients with neurological injuries can be rehabilitated by their own strength, but some rely on the assistance of caregivers to rehabilitate. During the rehabilitation of the patient, the caregiver should pay attention to the rehabilitation of the patient at all times to provide correct posture adjustment and support for the patient, so that the patient can properly rehabilitate. However, for a long time, not only the caregivers who are with them will feel tired, but the patients may have wrong postures, resulting in poor rehabilitation.

Most of the upper limb rehabilitation devices do not have a personalized stroke setting. For those who need to use different strengths to rehabilitate the upper limbs, if the same upper limb rehabilitation device is used, it will obviously affect the normal recovery due to different conditions. Jian. In addition, due to the complex muscle composition of the upper limbs, if the same upper limb rehabilitation device is used in the swinging motion of the upper limbs, the muscles of the weaker upper limbs of the rehabilitation are likely to cause muscles due to the incompatibility of the rehabilitation strength. Injured. Furthermore, for patients whose partial upper limb muscles need to be rehabilitated, the conventional upper limb rehabilitation device may not be able to meet the specific upper limb muscles for rehabilitation.

In view of the above, an upper limb rehabilitation device with a stroke setting unit is provided, which not only allows the rehabilitation person to complete the rehabilitation stroke request that should be achieved, but also sets the individualized upper limb rehabilitation stroke for individual conditions.

The main object of the present invention is to provide an upper limb rehabilitation device that can set an individualized rehabilitation stroke according to different needs of the rehabilitation person, so that the rehabilitation person performs appropriate upper limb reconstruction.

Another object of the present invention is to provide a method for setting the stroke of an upper limb rehabilitation device, which can set the swing amplitude of the rehabilitation upper limb and the swing speed to set the rehabilitation of different strengths for the needs of different rehabilitation persons.

To achieve the above object, the present invention provides an upper limb rehabilitation device including: a base, a driving unit, a swing arm, and a swing arm stroke setting unit. Wherein, the driving unit is assembled on the base. The swing arm is coupled to the driving unit, and the swing arm is driven by the driving unit to perform a reciprocating motion to drive the rehabilitated upper limb to reciprocate. In addition to driving the upper limb of the rehabilitation person, the function of the driving unit can also give the swing arm a resistance force, and let the rehabilitation person train the muscular endurance of the upper limb when performing the reciprocating motion of the upper limb. The swing arm stroke setting unit is disposed on one side surface of the driving unit and located between the swing arm and the driving unit to set the swing arm swing.

The swing arm stroke setting unit includes a slide rail and a plurality of end point setting units slidably disposed on the slide rail to set a stroke of the reciprocating motion performed by the swing arm. When the swing arm performs the reciprocating motion, the drive unit changes the swing mode of the reciprocating motion once the swing arm corresponds to one of the end point setting units.

The driving unit includes a motor and a plurality of driving belts, and the driving belts are respectively coupled to the motor and the swing arm to drive the swing arm to swing.

The end point setting unit of the swing arm stroke setting unit, wherein the end point setting unit can sense the swing arm swing, thereby detecting whether the swing arm swings to its set end point. The endpoint setting unit can be a directional magnetic field sensing unit, a photoelectric unit, a mechanical trigger unit, an electronic trigger unit, or a buffer unit. The directional magnetic field sensing unit transmits the direction of the magnetic field of the swing arm to detect whether the swing arm reaches the set end point: the photoelectric unit transmits light from the swing arm, the signal of the electric signal, or is set through the swing arm and the end point. The photoelectric signal of the unit is converted to sense whether the swing arm reaches the set end point; the mechanical trigger unit passes through the swing arm to reach the end point, and the swing arm presses a mechanical switch according to the driving force of gravity or the driving unit to detect Whether the measuring arm reaches the set end point; in addition, the electronic trigger unit touches the electronic trigger unit by the swing arm, and generates a circulating current to detect whether the swing arm reaches the set end. The function of the point is; the buffer unit is through the oil buffer mode, when the swing arm is about to reach the end point, the speed is reduced, and the buffer strength of the oil pressure buffer is used to detect whether the swing arm reaches the set end point.

The slide rail of the stroke setting unit of the upper limb rehabilitation device of the present invention is an arc-shaped slide rail, and the reciprocating movement mode of the swing arm is the swing direction of the swing arm, the swing angular velocity of the swing arm, or the number of swings.

In addition, the upper limb rehabilitation device of the present invention may include a computer control unit connected to the upper limb rehabilitation device to directly set the position of the end point setting unit on the slide rail and the setting of the reciprocating stroke of the swing arm by using a computer. The computer control unit can also be used to stop the operation of the upper limb rehabilitation device at any time.

The invention further provides a method for setting the stroke of the upper limb rehabilitation device, comprising: (A) providing an upper limb rehabilitation device, wherein the upper limb rehabilitation device comprises a base, a driving unit, a swing arm and a swing arm stroke setting a unit, and the swing arm stroke setting unit includes a slide rail and a plurality of end point setting units slidably disposed on the slide rail; and (B) setting a position of the end point setting unit on the slide rail, Set the stroke of the reciprocating motion of the swing arm. The method for setting the endpoint setting unit can manually move the position of the endpoint setting unit on the slide rail, and can also set the endpoint setting unit through the computer control unit on the upper limb rehabilitation device.

Wherein, the upper limb rehabilitation device of step (A), wherein the driving unit is assembled on the base, the swing arm is coupled to the driving unit, and is driven by the driving unit to reciprocate. The swing arm stroke setting unit is disposed on one side surface of the driving unit and located between the swing arm and the driving unit. When the swing arm reciprocates, once the swing arm corresponds to one of the end point setting units, the drive unit can change the swing mode of the reciprocating motion.

The endpoint setting unit of the above stroke setting method may be an orientation magnetic field sensing unit, a photoelectric unit, a mechanical trigger unit, an electronic trigger unit, or a buffer unit.

In the above stroke setting method, the reciprocating motion swing mode performed by the swing arm may be the swinging direction of the swing arm, the swing angular speed of the swing arm, or the number of swings.

The method for setting the stroke of the upper limb rehabilitation device of the present invention further comprises a step (C) of: setting the reciprocating motion of the driving unit to be changed when the swing arm corresponds to each of the end point setting units Swing mode. The swing mode may be a change in the swing direction of the swing arm, a change in the swing angular velocity, and the like after the end point setting unit is encountered.

The plurality of endpoint setting units are a first endpoint setting unit, a second endpoint setting unit, and a third endpoint setting unit. When the swing arm is located between the first end point setting unit and the second end point setting unit, the swing arm system swings at a first angular velocity. When the swing arm is located between the second end point setting unit and the third end point setting unit, the swing arm swings at a second angular velocity different from the first angular velocity. Through the setting of the first, second, and third end point setting units described above, in order to enable the upper limb rehabilitation person to transmit different swing angular velocities, different rehabilitation strengths are performed on different parts of the upper limb.

In addition, in the upper limb rehabilitation device of the present invention, when the swing arm performs the reciprocating motion, when the swing arm corresponds to one of the end point setting units, the upper limb rehabilitation device emits an acoustic sound to inform the rehabilitation person that it has reached the The setting standard for upper limb swing. In addition, the upper limb rehabilitation device of the present invention can also emit an acoustic sound to inform the rehabilitation person that the rehabilitation has been completed when the swing arm and the end point setting unit correspond to a certain number of times within a certain time. The process.

Example 1

1 is a perspective view of an upper limb rehabilitation device according to Embodiment 1 of the present invention, which includes a base 11, a driving unit 12, a swing arm 13, and a swing arm stroke setting unit 14. In the upper limb rehabilitation device of the present embodiment, the driving unit 12 is disposed on the base 11, and a bracket 111 is disposed between the driving unit 12 and the base 11. The bracket 111 is provided with a height adjusting component 112, so that the driving unit 12 can be Adjust the height. In addition, the side of the driving unit 12 has a shaft center 133, and the swing arm 13 is disposed on the shaft center 133 to cause the driving unit 12 to drive the swing arm 13 to reciprocate. Further, the swing arm stroke setting unit 14 is provided on the side surface of the drive unit 12 and is on the same side as the shaft center 133. 2 is a perspective view of the swing arm stroke setting unit of Embodiment 1 of the present invention. The swing arm stroke setting unit 14 has a slide rail 141 and two end stroke setting units, which are a first end point setting unit 142 and a second end point setting unit 143, respectively. When the swing arm 13 is swung through the shaft center 133, the swinging trajectory of the swing arm 13 is the trajectory of the slide rail 141. In the embodiment, the slide rail 141 is an arc-shaped slide rail.

The driving unit 12 of the upper limb rehabilitation device of the present embodiment has a motor 121 and a belt 122, and the belt 122 is coupled to the motor 121 and the swing arm 13. When the motor 121 operates, the belt 122 is driven to drive the swing arm. 13 swings.

The upper limb rehabilitation swing arm 13 of the present embodiment has a swing arm length adjusting member 132 for adjusting the swing arm length as required by the upper limb rehabilitation person. In addition, the base 11 has four casters 113 to allow the upper limb rehabilitation device to be easily moved, and to select an appropriate rehabilitation site as the upper limb rehabilitation person has different needs. Furthermore, the caster 113 on the base 11 further has a brake shoe 114 for fixing the caster 113 to prevent the upper limb rehabilitation device from moving when the rehabilitation person performs the upper limb rehabilitation.

In addition, the first end point setting unit 142 and the second end point setting unit 143 of the embodiment are directional magnetic field switches. When the swing arm 13 reaches the first end point setting unit 142, the swing arm 13 stops. And swinging in the reverse direction until the swing arm 13 reaches the second end point setting unit 143, the swing arm 13 is stopped again, and swings back, so that the swing arm 13 reciprocates.

In addition, the present embodiment provides a computer control system (not shown) for setting the rehabilitation stroke of the dedicated swing arm stroke setting unit 14 in accordance with the needs of the rehabilitation person.

In the present embodiment, the upper limb rehabilitation is performed by the above-described stroke setting upper limb rehabilitation device. First, the above-mentioned upper limb rehabilitation device is provided. The upper limb rehabilitation device has a base 11, a driving unit 12, a swing arm 13, and a swing arm stroke setting unit 14, and the swing arm stroke setting unit 14 has a The curved slide rail 141 and the two end point setting units are a first end point setting unit 142 and a second end point setting unit 143, respectively. The upper limb rehabilitation device is connected to a computer control system (not shown) to set the stroke of the swing arm stroke setting unit 14.

Next, a rehabilitation stroke is set in a computer control system (not shown), such as the number of swings of the swing arm 13, the driving force of the drive unit 12, and the like. Further, when the swing arm 13 corresponds to the first end point setting unit 142 and the second end point setting unit 143, the driving unit 12 needs to change the reciprocating motion mode of the swing arm 13.

After the above rehabilitation stroke setting is completed, the upper limb rehabilitation person first holds the grip 131 of the swing arm 13 to adjust the length of the swing arm 13 by the swing arm length adjusting unit 132. Next, the upper limb rehabilitation device of the present embodiment is activated, so that the upper limb rehabilitation person overcomes the resistance of the driving unit 12 to the swing arm 13, and swings the swing arm 13 when the swing arm 13 swings along the slide rail 141 to the first end. When the setting unit 142 is set, the swing arm 13 stops and swings back due to the action of the directional magnetic field sensing unit. Then, when the swing arm 13 swings back to the second stroke setting end point 143, the swing arm 13 is also It will stop due to the action of the directional magnetic field sensing unit and swing back again until the rehabilitation process is completed.

Example 2

3 is a perspective view showing a swing arm stroke setting unit according to Embodiment 2 of the present invention. This embodiment is substantially the same as the first embodiment except that the swing arm stroke setting unit 14 of the present embodiment has a first endpoint setting unit 142, a second endpoint setting unit 143, and a third endpoint setting unit. 144.

The upper limb rehabilitation device of the present embodiment presets the upper limb rehabilitation stroke by a computer control system (not shown), such as the number of swings of the swing arm 13 , the driving force of the driving unit 12 , and the swing arm 13 by the first end point setting unit. The first resistance when 142 is swung to the third end point setting unit 144, and the second resistance when the swing arm 13 is swung by the third end point setting unit 144 to the second end point setting unit 143. Therefore, when the rehabilitation of the upper limbs is rehabilitation, there may be a two-stage rehabilitation exercise to adjust the rehabilitation process to different degrees in response to the different conditions of the upper limb rehabilitation, in order to facilitate the rehabilitation of the upper limb rehabilitation. Rehabilitation.

The above-mentioned embodiments are merely examples for convenience of description, and the scope of the claims is intended to be limited to the above embodiments.

11. . . Base

111. . . support

112. . . Height adjustment component

113. . . Casters

114. . . Brake

12. . . Drive unit

121. . . motor

122. . . Belt

13. . . Swing arm

131. . . Grip

132. . . Swing arm length adjustment element

133. . . Axis

14. . . Swing arm stroke setting unit

141. . . Slide rail

142. . . First endpoint setting unit

143. . . Second endpoint setting unit

144. . . Third endpoint setting unit

1 is a perspective view of an upper limb rehabilitation device according to Embodiment 1 of the present invention.

Fig. 2 is a perspective view showing the swing arm stroke setting unit of the first embodiment of the present invention.

Fig. 3 is a perspective view showing a swing arm stroke setting unit of a second embodiment of the present invention.

11‧‧‧Base

111‧‧‧ bracket

112‧‧‧ Height adjustment components

113‧‧‧ casters

114‧‧‧煞车片

12‧‧‧Drive unit

121‧‧‧Motor

122‧‧‧Land

13‧‧‧ swing arm

131‧‧‧ grip

132‧‧‧Swing arm length adjustment element

133‧‧‧Axis

14‧‧‧Swing arm stroke setting unit

141‧‧‧rails

142‧‧‧First Endpoint Setting Unit

143‧‧‧Second endpoint setting unit

Claims (12)

An upper limb rehabilitation device includes: a base; a driving unit is disposed on the base; a swing arm is coupled to the driving unit, and the swing arm is driven by the driving unit to perform a a reciprocating motion; and a swing arm stroke setting unit disposed on one side surface of the driving unit and located between the swing arm and the driving unit; wherein the swing arm stroke setting unit includes a sliding rail and a plurality of sliding devices An end point setting unit on the slide rail to set a stroke of the reciprocating motion performed by the swing arm; and when the swing arm performs the reciprocating motion, once the swing arm is connected to one of the end point setting units In response, the drive unit changes the swing mode of the reciprocating motion. The upper limb rehabilitation device according to claim 1, wherein the driving unit comprises a motor and a plurality of driving belts, and the driving belts are respectively coupled to the motor and the swing arm. The upper limb rehabilitation device according to claim 1, wherein the endpoint setting unit is a plurality of directional magnetic field sensing units, a plurality of photoelectric units, a plurality of mechanical trigger units, a plurality of electronic trigger units, or A plurality of buffer units. The upper limb rehabilitation device according to claim 1, wherein the reciprocating movement mode is a swinging direction of the swing arm or a swing angular speed of the swing arm. The upper limb rehabilitation device according to claim 1, wherein the slide rail is an arc-shaped slide rail. The method for setting the stroke of the upper limb rehabilitation device comprises the following steps: (A) providing an upper limb rehabilitation device, the upper limb rehabilitation device comprising a base, a driving unit, a swing arm and a swing arm stroke setting unit, And the swing arm stroke setting unit comprises a slide rail and a plurality of end point setting units slidably disposed on the slide rail; and (B) setting a position of the end point setting unit on the slide rail to set the swing a stroke of the reciprocating motion of the arm; wherein the driving unit is assembled on the base, the swing arm is coupled to the driving unit and driven by the driving unit to perform the reciprocating motion; the swing arm stroke setting unit Is disposed on one side surface of the driving unit and located between the swing arm and the driving unit; and when the swing arm performs the reciprocating motion, once the swing arm corresponds to one of the end point setting units, The drive unit changes the swing mode of the reciprocating motion. The method for setting a stroke according to claim 6, wherein the endpoint setting unit is a plurality of directional magnetic field sensing units, a plurality of photoelectric units, a plurality of mechanical trigger units, a plurality of electronic trigger units or plural Buffer unit. The stroke setting method according to claim 6, wherein the swinging mode of the reciprocating motion is a swinging direction of the swing arm or a swinging angular speed of the swing arm. The method for setting the stroke according to claim 6 further includes a step (C) of setting the reciprocating motion of the driving unit to be changed when the swing arm corresponds to each of the end point setting units. Swing mode. The method for setting a stroke according to claim 6, wherein the endpoint setting unit is a first endpoint setting unit, a second endpoint setting unit, and a third endpoint setting unit, and When the swing arm is located between the first end point setting unit and the second end point setting unit, the swing arm swings at a first angular velocity, and when the swing arm is located at the second end point setting unit and the third When the end point is set between the units, the swing arm swings at a second angular velocity different from the first angular velocity. The stroke setting method according to claim 6, wherein when the swing arm performs the reciprocating motion, when the swing arm corresponds to the end point setting units, the upper limb rehabilitation device emits an acoustic sound. The stroke setting method according to claim 6, wherein when the swing arm performs the reciprocating motion, when the swing arm corresponds to the end point setting unit for a certain number of times within a specific time, The upper limb rehabilitation device emits an audible sound.