TWI693951B - Elbow joint rehabilitation device and rehabilitation method thereof - Google Patents

Abstract

An elbow joint rehabilitation device and a rehabilitation method thereof are provided. The elbow joint rehabilitation device includes two support plates, two fixing elements, an actuating module, a driving module, a bending sensor, two pressure sensors and a control module. The two fixing elements are used to fix the two support plates on an arm respectively. The actuating module actuates rotation of the two support plates relative to the elbow joint of the arm. The bending sensor senses a bending degree of the arm relative to the elbow joint. The two pressure sensors sense two resistance values of an upper arm and a lower arm respectively against the two support plates. The control module controls the driving module to drive the actuating module according to the bending degree and the two resistance values.

Description

Elbow joint rehabilitation device and rehabilitation method

The invention relates to a rehabilitation device, in particular to an elbow joint rehabilitation device and a rehabilitation method.

The existing rehabilitation treatment bed is characterized in that the bed board is a multi-stage structure, and the bed frame is a metal liftable structure. When in use, the bed frame is adjusted by lifting the bed frame to put the patient's body in a proper position. Elbow flexion and extension treatment, including elbow flexion treatment and elbow extension treatment. In the treatment of elbow flexion and extension, especially the treatment of elbow flexion and extension, two rehabilitation therapists are required to assist each other. One rehabilitation engineer held the patient's forearm immobilized, and the other rehabilitation engineer used treatment to open the patient's joint, and then slammed and squeezed the patient's forearm. Or, when the patient is training elbow joint strength, a rehabilitation engineer is required to hold the patient's forearm and repeatedly apply force in the opposite direction of the patient's elbow joint flexion and extension to provide resistance to the patient's elbow joint flexion and extension to help the patient recover the elbow joint muscle power. During the training process, the full assistance of the rehabilitation teacher is required, and the patient cannot complete it by himself.

The technical problem to be solved by the present invention is to provide an elbow joint rehabilitation device for the shortcomings of the prior art, which includes a support plate component, a fixed component, an actuation module, a drive module, a bending sensor, a pressure sensing component and Control module. The support plate assembly includes two support plates. support The boards are placed under the upper and lower arms on both sides of the elbow joint. The support plate is bendable, providing bending from the bottom of the arm along the contour of the arm to the side of the arm. The fixing assembly includes two fixing elements, which are detachably wound from the bottom surfaces of the two support plates to the top surface of the arm to fix the two support plates on the arm respectively. The actuation module is connected to the two support plates and is configured to actuate the two support plates to rotate relative to the elbow joint of the arm to rotate each support plate from the current height position to the rehabilitation position to be reached. The driving module is connected to the actuating module and is configured to drive the actuating module to actuate the two support plates to rotate. The bending sensor is disposed between the two support plates, and is configured to sense the bending degree of the upper arm and the lower arm relative to the elbow joint when the arm bends with the rotation of the two support plates. The pressure sensing component includes two pressure sensors, which are respectively disposed on the two supporting plates, and are configured to respectively sense the force applied to the arm when the two supporting plates rotate, resulting in the two opposing forces of the upper arm and the lower arm respectively against the two supporting plates value. The control module is connected to the driving module, the bending sensor and the pressure sensing component. The control module is configured to obtain the bending degree from the bending sensor and the two resistance values from the pressure sensing component. The control module is configured to control the driving module to drive the actuation module according to the bending degree and the two resistance values.

In addition, the present invention provides an elbow joint rehabilitation method, which is suitable for the above elbow joint rehabilitation device and includes the following steps: (a) placing two support plates respectively under the upper arm and the lower arm on both sides of the elbow joint; (b) placing Two fixing elements are detachably wound from the bottom surface of the two support plates to the top surface of the arm to fix the two support plates on the arm; (c) start the elbow rehabilitation device; (d) use the control module to provide multiple Weight range value, select one of the weight range values of the weight of the user who uses the elbow rehabilitation device to recover; (e) Use the control module to control the drive module to drive the actuation module to actuate the support plate relative to The elbow joint of the arm rotates, so that the upper arm and the lower arm bend with the rotation of the two support plates; (f) Use two pressure sensors to determine whether the two support plates are sensed to rotate and exert force on the arm. Respectively against the two resistance values generated by the two support plates, if not, continue to perform step (e), if so, proceed to the next step (g); (g) use the control module to compare whether each resistance value reaches the arm The critical value of the resistance to bear, if not, continue to perform step (e), if yes, perform the next step (h); and (h) use the control module The driving module is controlled to stop driving the actuating module, so that the actuating module stops actuating each support plate to rotate, so that each support plate is maintained at the current height position.

In addition, the present invention provides an elbow joint rehabilitation method, which is applicable to the above elbow joint rehabilitation device, and includes the following steps: (1) placing two support plates under the upper and lower arms on both sides of the elbow joint; (m) placing The two fixing elements are detachably wound from the bottom surface of the two support plates to the top surface of the arm to fix the two support plates on the arm respectively; (n) start the elbow rehabilitation device; (o) set the desired use through the control module The preset number of rehabilitation times for the rehabilitation of the elbow joint rehabilitation device; (p) Use the control module to provide multiple allowable bending threshold options, select which allowable bending threshold the arm can bear; (q) Use the control module to control The driving module drives the actuating module to actuate the support plate to rotate relative to the elbow joint of the arm, so that the upper arm and the lower arm bend with the rotation of the two support plates; (r) the bending sensor is used to sense that the arm follows the two support plates When rotating and bending, (s) the bending degree of the upper arm and the lower arm relative to the elbow joint; use the control module to compare whether the bending degree reaches the allowable bending threshold of the arm, if not, continue to perform step (q), If yes, perform the next step (t); and (t) use the control module to control the driving module to stop driving the actuating module, so that the actuating module stops actuating the rotation of each support plate, so that each support plate is maintained at the current height Location.

11, 12: support plate

21, 22: fixed element

30: Actuation module

40: drive module

50: bending sensor

501: curvature

61, 62: pressure sensor

611, 621: resistance value

70: control module

701: Allowable bending threshold

702: Time threshold

703: Threshold of resistance

80: storage module

90: Cloud server

100: mobile device

S401~S415, S501~S507, S601~S617, S701~S717: Steps

FIG. 1 is a schematic view of the appearance of an elbow joint rehabilitation device according to a first embodiment of the invention.

FIG. 2 is a schematic diagram of the elbow rehabilitation device of the first embodiment of the present invention.

3 is a block diagram of an elbow joint rehabilitation device according to a second embodiment of the invention.

4 is a flowchart of steps of an elbow joint rehabilitation method applicable to an elbow joint rehabilitation device according to a third embodiment of the present invention.

5 is a flowchart of steps of an elbow joint rehabilitation method applicable to an elbow joint rehabilitation device according to a fourth embodiment of the present invention.

6 is a fifth embodiment of the present invention is suitable for elbow joint rehabilitation device for elbow joint rehabilitation device A flowchart of the steps of the health method.

7 is a flowchart of steps of an elbow joint rehabilitation method applicable to an elbow joint rehabilitation device according to a sixth embodiment of the present invention.

Please refer to FIG. 1 and FIG. 2, which are a schematic view and an external view of the elbow joint rehabilitation device according to the first embodiment of the present invention. As shown in FIGS. 1 and 2, the elbow joint rehabilitation device includes a support plate assembly, a fixed assembly, an actuation module 30, a drive module 40, a bending sensor 50, a pressure sensing assembly, and a control module 70. The support plate assembly includes two support plates 11 and 12. The fixing assembly includes two fixing elements 21 and 22.

The support plate 11 is placed under the upper arm on the elbow joint side. The support plate 12 is placed under the lower arm on the other side of the elbow joint. The support plates 11 and 12 are bendable and provide bending from the bottom of the arm along the contour of the arm to the side of the arm. The two fixing elements 21 and 22 are detachably wound from the bottom surfaces of the two supporting plates 11 and 12 to the top surface of the arm to respectively fix the two supporting plates 11 and 12 on the arm.

The control module 70 is connected to the driving module 40, the bending sensor 50 and the pressure sensing component, and is configured to control the driving module 40 to operate. The driving module 40 is connected to the actuating module 30 and is configured to drive the actuating module 30. The two actuation modules 30 are connected to the two support plates 11 and 12, respectively. The two actuation modules 30 are configured to simultaneously or non-simultaneously actuate the two support plates 11, 12 to rotate relative to the elbow joint of the arm, so as to rotate the support plates 11, 12 from the current height position to the rehabilitation position to be reached . In practice, the two actuation modules 30 can respectively actuate the two support plates 11 and 12 to rotate at different angles.

For example, the bending sensor 50 may be disposed inside or outside the driving module 40 and configured to sense the driving of the driving module 40 on the two support plates 11 and 12 to obtain the corresponding bending of the upper arm and the lower arm relative to the elbow joint degree. Alternatively, the bending sensor 50 is provided between the two support plates 11 and 12. More specifically, the two bending sensors 50 are provided on the two actuating modules 30 respectively provided on the two supporting plates 11 and 12, It is configured to sense the bending degree of the upper arm and the lower arm relative to the elbow joint when the arm bends with the rotation of the two support plates 11 and 12 respectively.

The pressure sensing component includes two pressure sensors 61 and 62, which are respectively arranged on the inner bottom surfaces of the two supporting plates 11 and 12 which are in contact with the arm, and are configured to sense that the two supporting plates 11, 12 respectively apply force to the arm when rotating , Causing the upper and lower arms to bear the two resistance values of the two support plates 11, 12 respectively. During the rotation of the two support plates 11 and 12, the control module 70 obtains the bending degree from the bending sensor 50 and the two resistance values from the pressure sensing component, and controls the driving module 40 according to the bending degree and the two resistance values Drive the actuation module 30.

Please refer to FIG. 3, which is a block diagram of an elbow joint rehabilitation device according to a second embodiment of the present invention. As shown in FIG. 3, the elbow rehabilitation device includes supporting plates 11, 12, fixing elements 21, 22, an actuation module 30, a driving module 40, a bending sensor 50, a pressure sensor 61, 62, and a control Module 70. The fixing elements 21 and 22 are respectively configured to fix the support plates 11 and 12 on the arm. The driving module 40 is connected to the control module 70 and the actuation module 30. The actuation module 30 is connected to the support plates 11 and 12. The bending sensor 50 may be disposed between the support plates 11 and 12. The pressure sensors 61 and 62 are provided on the support plates 11 and 12, respectively.

In addition, the elbow rehabilitation device may further include a storage module 80, a cloud server 90, a mobile device 100, or a combination thereof, which may be connected to the control module 70 or to the bending sensor 50 and the pressure sensors 61, 62. The storage module 80, the cloud server 90, the mobile device 100, or a combination thereof can store the allowable bending threshold 701 and the reaction resistance threshold 703 that the arm can bear, and provide it to the control module 70. In addition, the storage module 80, the cloud server 90, the mobile device 100, or a combination thereof can store the resistance values 611, 621 of the arm sensed by the pressure sensors 61, 62, respectively, and the arm's resistance value sensed by the bending sensor 50 The curvature is 501.

In implementation, when the driving module 40 drives the two supporting plates 11 and 12 to rotate, the control module 70 determines that the bending degree 501 of the arm sensed by the bending sensor 50 reaches the allowable bending threshold 701, the control module 70 controls the driving module 40 to stop driving the two supporting plates 11 and 12 to rotate. further, When the control module 70 determines that the driving module 40 drives the two supporting plates 11 and 12 to rotate in one direction, the bending degree 501 of the arm sensed by the bending sensor 50 exceeds the allowable bending threshold 701, and the driving module is controlled 40 drives one or both of the two support plates 11 and 12 to rotate in the opposite direction, so that the bending degree 501 of the arm is maintained not to exceed the allowable bending critical value 701.

The control module 70 determines that each time the support plates 11 and 12 remain at the height position exceeds the time threshold 702, the control module 70 controls the storage module 80, the cloud server 90, the mobile device 100, or a combination thereof to store the support plates 11. At this height position, the bending degree 501 sensed by the bending sensor 50. Further, the control module 70 compares all the bending degrees 501 sensed by the bending sensor 50 each time the elbow joint rehabilitation device is used for rehabilitation one or more times, and the maximum bending of the plurality of bending degrees 501 can be changed The degree 501 is taken as the allowable bending threshold 701 of the arm. The control module 70 may obtain and update the allowable bending threshold value 701 from the storage module 80, the cloud server 90, or the mobile device 100 the next time the actuation module 30 actuates the support plates 11, 12 to rotate.

On the other hand, when the driving module 40 drives the two support plates 11 and 12 to rotate, the control module 70 determines that the resistance values 611 and 621 of the upper and lower arms sensed by the pressure sensors 61 and 62 are respectively When either or both of them reach the resistance threshold 703, stop driving either or both of the two support plates 11, 12 to rotate. Further, when the control module 70 determines that the driving module 40 drives the two supporting plates 11 and 12 to rotate in one direction, the resistance values 611 and 621 from the pressure sensors 61 and 62 are either or both When the threshold value of resistance 703 is exceeded, the drive module 40 is controlled to drive one or both of the two support plates 11, 12 to rotate in the opposite direction, so that the resistance values 611, 621 are maintained not to exceed the resistance The critical value is 703. It should be understood that different resistance thresholds 703 may be set for the resistance values 611 and 621, respectively.

The control module 70 determines that each time the support plates 11 and 12 are maintained at the height position exceeds the time threshold 702, the control module 70 can control the storage module 80, the cloud server 90, the mobile device 100, or a combination thereof to store the support plates 11, 12 In the height position, the resistance force sensed by the pressure sensors 61, 62 Values 611, 621. The control module 70 compares all resistance values 611, 621 sensed by the pressure sensors 61, 62 each time the elbow rehabilitation device is used for rehabilitation one or more times, and the pressure sensors 61, 62 Among all the resistance values 611 and 621, the largest resistance value 611 and 621 is regarded as the critical resistance value 703 that the arm can bear. The control module 70 obtains and updates the resistance threshold 703 from the storage module 80, the cloud server 90, or the mobile device 100 the next time the actuation module 30 actuates the support plates 11, 12 to rotate.

Please refer to FIG. 4, which is a flowchart of steps of an elbow joint rehabilitation method applicable to an elbow joint rehabilitation device according to a third embodiment of the present invention. As shown in FIG. 4, the elbow joint rehabilitation method applicable to the elbow joint rehabilitation device of this embodiment includes the following steps S401 to S415.

In step S401, the two support plates are placed under the upper and lower arms on both sides of the elbow joint, respectively. In step S403, the two fixing elements are detachably wound from the bottom surfaces of the two support plates to the top surface of the arm, respectively, so as to fix the two support plates on the arm respectively.

In step S405, the elbow joint rehabilitation device is activated. In step S407, the control module provides a plurality of weight range values, and selects one of the weight range values of the weight of the user who uses the elbow joint rehabilitation device for rehabilitation. In step S409, the control module is used to control the drive module to drive the actuation module to actuate the support plate to rotate relative to the elbow joint of the arm, so that the upper arm and the lower arm bend with the rotation of the two support plates. In step S411, the two pressure sensors are used to determine whether the two support plates respectively sense the rotation and exert force on the arm, the upper arm and the lower arm respectively bear the two resistance values generated by the two support plates, if not, continue to perform the step S409, if yes, go to step S413.

In step S413, the control module is used to compare whether the resistance value reaches the critical value of the resistance force that the arm can bear. If not, continue to perform step S409, and if so, perform step S415. In step S415, the control module is used to control the drive module to stop driving the actuation module, so that the actuation module stops actuating the support plate to rotate, and the support plate is maintained at the current height position for rehabilitation.

Please refer to FIG. 5, which is a flowchart of steps of an elbow joint rehabilitation method applicable to an elbow joint rehabilitation device according to a fourth embodiment of the present invention. As shown in FIG. 5, this embodiment is applicable to elbow rehabilitation equipment The elbow rehabilitation method includes the following steps S501 to S507.

In step S501, the actuation module is used to actuate the support plate to rotate to the rehabilitation height position, and maintain the support plate at the rehabilitation height position. In step S503, the control module starts to count the rehabilitation time when the support plate is maintained at the rehabilitation height position.

In step S505, the control module is used to determine whether the currently measured rehabilitation time reaches the preset rehabilitation time. If not, continue to perform step S501 to maintain the support plate at the rehabilitation height position, and if so, perform step S507. In step S507, the control module is used to control the drive module to drive the actuation module to actuate the support plate from the rehabilitation height position to the flat position, so that the arms placed on the two support plates are turned from curved to straight, and the recovery is ended Healthy.

Please refer to FIG. 6, which is a flowchart of steps of an elbow joint rehabilitation method applicable to an elbow joint rehabilitation device according to a fifth embodiment of the present invention. As shown in FIG. 6, the elbow joint rehabilitation method applicable to the elbow joint rehabilitation device of this embodiment includes the following steps S601 to S617.

In step S601, two support plates are placed under the upper arm and the lower arm on both sides of the elbow joint. In step S603, the two fixing elements are detachably wound from the bottom surfaces of the two support plates to the top surface of the arm to fix the two support plates on the arm respectively.

In step S605, the elbow joint rehabilitation device is activated. In step S607, the control module sets a preset number of times of rehabilitation to be performed using the elbow joint rehabilitation device. In step S609, the control module is used to provide multiple allowable bending threshold options. The user can manually or the control module can automatically select one of the allowable bending thresholds that the arm can bear according to other parameters such as arm weight and user weight.

In step S611, the control module is used to control the drive module to drive the actuation module to actuate the support plate to rotate relative to the elbow joint of the arm, so that the upper arm and the lower arm bend as the two support plates rotate. In step S613, the bending degree of the upper arm and the lower arm relative to the elbow joint is sensed by using the bending sensor to sense the bending of the arm with the rotation of the two supporting plates.

In step S615, the control module is used to compare whether the bending degree reaches the allowable bending threshold of the arm. If not, continue to perform step S613 to continuously sense the position of the upper arm and the lower arm relative to the elbow joint by performing step S611 If yes, go to step S617. In step S617, the control module is used to control the driving module to stop driving the actuation module, so that the actuation module stops actuating the support plate to rotate, and the support plate is maintained at the current height position for rehabilitation.

Please refer to FIG. 7, which is a flowchart of steps of an elbow joint rehabilitation method applicable to an elbow joint rehabilitation device according to a sixth embodiment of the present invention. As shown in FIG. 7, the elbow joint rehabilitation method applicable to the elbow joint rehabilitation device of this embodiment includes the following steps S701 to S717.

In step S701, the user's elbow health status data is obtained from the cloud server or mobile device using the control module. In step S703, the control module determines the continuous rehabilitation time for each rehabilitation based on the elbow joint health status data. In step S705, the control module determines the rest time after the completion of each rehabilitation based on the elbow joint health status data.

In step S707, the elbow joint rehabilitation device is activated, and the support plate of the elbow joint rehabilitation device is rotated to the target height for rehabilitation. In step S709, the control module is used to determine whether the rehabilitation time for rehabilitation using the elbow joint rehabilitation device reaches the preset rehabilitation time. If not, step S709 is executed again, and if so, step S711 is executed. In step S711, the control module is used to record the rehabilitation time and count the number of rehabilitation times, and then step S713 is executed. In step S713, the control module is used to control the drive module to drive the actuation module to actuate the support plate to rotate from the current height position to the flat position, so that the arms placed on the two support plates are turned from bending to straight and resting.

In step S715, the control module is used to determine whether the currently accumulated number of rehabilitation times reaches the preset number of rehabilitation times or whether the rehabilitation is interrupted halfway. If not, after a rest period, step S707 is performed to perform the next rehabilitation. Step S717 to close the elbow rehabilitation device.

As described above, the present invention provides an elbow joint rehabilitation device and a rehabilitation method thereof, which are easy to carry and wear, and can sense the resistance force of the user's elbow joint and the upper and lower arms relative to The bending angle of the elbow joint, and based on these sensed values and other provided user weight values, etc., to plan the appropriate rehabilitation procedures that individuals can perform at home to effectively improve surgery, post-injury or lack of activity The problem caused by the sticky joints.

11, 12: support plate

21, 22: fixed element

30: Actuation module

40: drive module

50: bending sensor

61, 62: pressure sensor

70: control module

Claims (9)

An elbow joint rehabilitation device includes: a support plate assembly, including two support plates, the support plates are placed under the upper arm and the lower arm on both sides of the elbow joint respectively, the support plate has bendability and provides a slave arm The bottom surface is bent to the side of the arm along the contour of the arm; a fixing assembly including two fixing elements is detachably wound from the bottom surface of the two support plates to the top surface of the arm to fix the two support plates on the arm respectively; consistent A moving module, connected to the two supporting plates, configured to actuate the two supporting plates to rotate relative to the elbow joint of the arm, so as to rotate each supporting plate from the current height position to the rehabilitation position to be reached; a driving module Set, connected to the actuation module, configured to drive the actuation module to actuate the two support plates to rotate; a bending sensor, disposed between the two support plates, configured to sense the arm following the two support plates When bending, the upper arm and the lower arm bend relative to the elbow joint; a pressure-sensing component, including two pressure sensors, respectively disposed on the two support plates, configured to respectively sense the two When the support plate rotates, a force is applied to the arm, which causes the upper arm and the lower arm to respectively bear the two resistance values of the two support plates; and a control module that connects the drive module, the bending sensor, and the pressure sensor A component configured to obtain the bending degree from the bending sensor and the two resistance values from the pressure sensing component, and control the driving module to the actuating module according to the bending degree and the two resistance values Drive; wherein the control module obtains an allowable bending threshold that the arm can withstand; wherein when the drive module drives the two support plates to rotate, the control module determines the sensed by the bend sensor When the bending degree reaches the allowable bending critical value, the control module controls the driving module to stop driving the two support plates to rotate; and When the control module judges that the driving module drives the two supporting plates to rotate in one direction, when the bending degree sensed by the bending sensor exceeds the allowable bending critical value, the driving module is controlled to drive the One or both of the two support plates rotate in the opposite direction to the other direction, so that the bending degree is maintained not to exceed the allowable bending critical value. The elbow rehabilitation device as described in item 1 of the patent scope further includes a storage module, a cloud server, a mobile device, or a combination thereof, connected to the bending sensor and the control module; the control module The group determines that each time the support plate maintains a height position exceeds a time threshold, and controls the storage module, the cloud server, the mobile device, or a combination thereof to store each support plate at the height position , The bending degree sensed by the bending sensor; the control module compares all the bending degrees sensed by the bending sensor each time the elbow joint rehabilitation device is used for rehabilitation one or more times , The maximum of the plurality of degrees of bending is used as the allowable bending threshold that the arm can bear; the control module controls the storage module, the cloud server, the mobile device, or a combination thereof to store the allowed bending threshold The control module obtains the allowable bending threshold from the storage module, the cloud server, or the mobile device the next time the actuation module actuates each of the support plates to rotate. The elbow rehabilitation device as described in item 1 of the patent application scope, wherein the control module obtains a critical resistance value that the arm can bear; when the drive module drives the two support plates to rotate, the control module When the resistance value sensed by each pressure sensor reaches the critical value of the resistance force, the control module controls the drive module to stop driving the two support plates to rotate; when the control module judges the drive module In the process of driving the two support plates to rotate in one direction, when the resistance value obtained by the pressure sensor exceeds the critical value of the resistance force, the driving module is controlled to drive one or both of the two support plates In that direction The rotation in the opposite direction is reversed so that the value of the reaction force does not exceed the critical value of the reaction force. The elbow rehabilitation device as described in item 3 of the patent application scope further includes a storage module, a cloud server, a mobile device or a combination thereof, connected to each of the pressure sensor and the control module; the control The module determines that each time the support plate maintains a height position exceeds a time threshold, controls the storage module, the cloud server, the mobile device, or a combination thereof to store the support plate at the height position , The resistance value sensed by each pressure sensor; the control module compares each time the pressure sensor senses each time when the elbow rehabilitation device is used for rehabilitation one or more times For all the resistance values, the largest of all the resistance values of each pressure sensor is used as the critical value of the resistance force that the arm can bear; the control module controls the storage module and the cloud servo The mobile device, the mobile device, or a combination thereof to store the threshold value of the reaction resistance; the control module obtains from the storage module, the cloud server, or the mobile device the next time the actuating module actuates each support plate to rotate The threshold of this resistance. An elbow joint rehabilitation method, applicable to the elbow joint rehabilitation device as described in item 1 of the patent application, includes the following steps: (a) placing the two support plates under the upper arm and lower arm on both sides of the elbow joint (B) The two fixing elements are detachably wound from the bottom surfaces of the two support plates to the top surface of the arm to fix the two support plates on the arm respectively; (c) The elbow rehabilitation device is activated; (d) Use the control module to provide multiple weight range values, and select one of the weight range values of the weight of the user who uses the elbow rehabilitation device for rehabilitation; (e) Control using the control module The drive module drives the actuation module to actuate the The support plate rotates relative to the elbow joint of the arm, so that the upper arm and the lower arm bend with the rotation of the two support plates; (f) use the two pressure sensors to determine whether the two support plates are sensed to rotate and apply force respectively At the time of the arm, the upper arm and the lower arm respectively bear the two resistance values generated by the two support plates. If not, continue to perform step (e), if yes, perform the next step (g); (g) use the control The module compares whether each resistance value reaches a critical resistance value that the arm can bear. If not, continue to perform step (e), if so, perform the next step (h); and (h) use the control module The driving module is controlled to stop driving the actuating module, so that the actuating module stops actuating each support plate to rotate, so that each support plate is maintained at a current height position. The elbow rehabilitation method as described in item 5 of the patent application scope further includes the following steps: (i) using the control module to start timing each support when the actuation module stops actuating the rotation of each support plate The board maintains a rehabilitation time at the current height position; (j) Use the control module to determine whether the currently timed rehabilitation time reaches a preset rehabilitation time, if not, continue to perform step (h) to make each The support plate is maintained at the current height position, if so, perform the next step (k); and (k) use the control module to control the drive module to drive the actuation module to actuate each support plate from the current height position Rotate to the flat position to make the arms placed on the two support plates turn from bending to straight. An elbow joint rehabilitation method, applicable to the elbow joint rehabilitation device as described in item 1 of the patent application, includes the following steps: (l) placing the two support plates respectively on the upper and lower arms of the elbow joint on both sides ; (M) The two fixing elements are detachably wound from the bottom surfaces of the two support plates, respectively; To the top surface of the arm, to fix the two supporting plates on the arm respectively; (n) activate the elbow joint rehabilitation device; (o) set the to-be-repaired elbow joint rehabilitation device through the control module Preset rehabilitation times; (p) Use the control module to provide multiple allowable bending threshold options, select one of the allowable bending thresholds that the arm can bear; (q) Use the control module to control the driving module to drive The actuation module actuates the support plate to rotate relative to the elbow joint of the arm, so that the upper arm and the lower arm bend as the two support plates rotate; (r) the arm is used to sense that the arm supports the two supports When the board rotates and bends, the bending degree of the upper arm and the lower arm relative to the elbow joint; (s) Use the control module to compare whether the bending degree reaches the allowable bending critical value that the arm can bear, if not, continue Perform step (q), if yes, perform the next step (t); and (t) use the control module to control the drive module to stop driving the actuation module, so that the actuation module stops actuating each support The plate rotates to maintain each support plate at a current height position. The elbow rehabilitation method as described in item 7 of the patent application scope further includes the following steps: (u) using the control module to start timing each support when the actuation module stops actuating the rotation of each support plate The board maintains a rehabilitation time at the current height position; (v) Use the control module to determine whether the currently timed rehabilitation time reaches a preset rehabilitation time, if not, continue to perform step (t) to make each The support plate is maintained at the current height position, if so, perform the next step (w); and (w) use the control module to control the drive module to drive the actuation module to actuate each support plate from the current height position Rotate to the flat position so that it is placed on the two The arm on the support plate turns from bending to straightening. The elbow rehabilitation method as described in item 7 of the patent application further includes the following steps: (x) use the control module to obtain user's elbow health status data obtained from a cloud server or a mobile device To determine the duration of each rehabilitation session and the rest period after the completion of each rehabilitation session; (y) use the control module to reach a preset rehabilitation time at each rehabilitation session Time, record the rehabilitation time and count the number of rehabilitation times, control the drive module to drive the actuation module to actuate each support plate to rotate from the current height position to the flat position, so that the two support plates are placed on the support plate The arm turns from bending to straightening; (z) Use the control module to start timing and count the number of rehabilitations; and (aa) Use the control module to determine whether the accumulated number of rehabilitations reaches the preset number of rehabilitations or not Rehabilitation is interrupted midway, if not, continue rehabilitation, if yes, continue to perform step (y).

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