CN204814707U - Intelligent upper limbs rehabilitation training device - Google Patents
Intelligent upper limbs rehabilitation training device Download PDFInfo
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- CN204814707U CN204814707U CN201520558269.1U CN201520558269U CN204814707U CN 204814707 U CN204814707 U CN 204814707U CN 201520558269 U CN201520558269 U CN 201520558269U CN 204814707 U CN204814707 U CN 204814707U
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Abstract
The utility model belongs to the technical field of medical treatment rehabilitation appliance, concretely relates to intelligent upper limbs rehabilitation training device, the major structure includes the controller, the detection modul, power drive device and training ware mechanism, the intelligent upper limbs rehabilitation training device that each part cooperation constitutes, can be applicable to recovery / supplementary training of the upper limbs dyskinesia patient that hemiplegia and/or other factors arouse, upper limbs functional disorder patient suitable very much uses, can carry out the passive form according to different patients' demand, active and/or resistance formula is trained, reach the recovered treatment of pertinence, each joint of upper limbs of can accurate locating pasting during the use closing the patient, the exercise of avoiding the dislocation arouses tissue lesion and pulled muscle, its simple structure, small, the quality is light, convenient to use, the training effect is good, and the training precision is high, low in manufacturing cost, the range of application is wide.
Description
Technical field:
This utility model belongs to technical field of medical rehabilitation machinery, is specifically related to a kind of intelligent upper-limb recovery training device, can be applicable to the rehabilitation/supplemental training of the upper extremity exercise impaired patients that hemiplegia and/or other factors cause.
Background technology:
According to incompletely statistics, the patient of 70% one 80% is about had all to leave over deformity in various degree in the survivor such as syndrome caused by wind pathogen, cerebral palsy; For disabled patient particularly paralytic, the rehabilitation training for its hemiplegia position is very important and crucial medical procedure, facts have proved, comparatively early carries out rehabilitation training and can greatly reduce disabled probability.In the rehabilitation medical of hemiplegic patient, due to the impact of human lives's factor, the raising that lower limb rehabilitation generally all can acquire a certain degree, and upper limb healing is due to the inertia of people, subconsciousness etc., and reason causes disability rate to remain high, and makes patient repent forever.Experiment shows, regular functional training can promote the restructuring of nervus centralis and compensatory, recovers the extremity motor function of patient, this medical science foundation important for robot assisted rehabilitation technique provides.By the rehabilitation training that intelligent machine equipment carries out, can effectively solve Problems existing in Traditional Rehabilitation training method, not only can formulate training program for the state of an illness of different patient, and objectively can record some data of parameter in training process, be convenient to the analysis optimization adjustment therapeutic scheme of doctor by training data, and sum up the rule exploring central nervous system's rehabilitation, intelligent machine equipment can greatly reduce the working strength of paraprofessional personnel simultaneously, reduce patient's pressure at heart, improve training interest.
The assistive device that trainer for hemiparalysis tool great majority are function singleness is fixed in prior art, intelligence degree is not very high, and great majority are applicable to paralysed patient whole body or lower limb are suitable for, such as a kind of apoplexy recovery training appliance for recovery disclosed in Chinese patent 2014207753905, a kind of upper and lower limbs active passive joint device for rehabilitation disclosed in Chinese patent 201420507546.1, the equipment such as handcar formula upper and lower extremities coorinated training device in a kind of water disclosed in Chinese patent 201420474844.5, volume is large, quality weight, cannot be applicable to rehabilitation training of upper limbs separately.Comprise the paralytic upper limb training pulley that a kind of applicable muscular strength disclosed in Chinese patent 201410742188.7 is I level in addition, a kind of upper limb training auxiliary device disclosed in Chinese patent 201420422215.8, the training devicess such as a kind of upper extremity practice assist device for hemiplegia patients disclosed in Chinese patent 201310177902.8, although be the equipment being directed to upper limb training specially, but it is single all to there is training mode, the defects such as man-machine interaction difference, therefore, inventor's research design goes out a kind of intelligent upper-limb recovery training device, there is active training, passive exercise and resistance exercise three kinds of motor control patterns, and every physiologic information and the movable information of patient in training process can be recorded.
Summary of the invention:
The purpose of this utility model is the shortcoming overcoming prior art existence, designs a kind of intelligent upper-limb recovery training device, can carry out the compound motion training of lower five degree of freedom of Three models.
To achieve these goals, the intelligent upper-limb recovery training device agent structure of this utility model design comprises controller, detection module, Power Drive Unit and training aids mechanism, controller ceases with detection module and power drive modular telecommunications respectively and is connected, and detection module and power drive Module-embedding formula are arranged in training aids mechanism; Controller is the computer being provided with control system, can complete the control to training aids and infomation detection process; Detection module comprises muscular strength sensor, myoelectric sensor, locus sensor and pressure transducer, can the movable information of patient and the active force of physiologic information and training aids in collect and transmit training aids use procedure, forms record simultaneously and is exported; Power Drive Unit comprises two groups of servomotors with servo drive system, respectively in order to drive ectoskeletal shoulder joint and elbow joint motion in training aids mechanism; Training aids mechanism comprises level(l)ing mechanism, height adjustment mechanism, top links, shoulder fixed mechanism, ectoskeleton, upper arm band and underarm band, ectoskeleton is formed by passing through shoulder joint, upper arm link, elbow joint, lower arm link and the hand rest that kinematic pair mode connects, one end of shoulder fixed mechanism is connected with height adjustment mechanism and level(l)ing mechanism by top links, is respectively used to the fixed position adjusting upper-limb recovery training device horizontal and vertical direction; The other end of shoulder fixed mechanism is connected with ectoskeleton in kinematic pair mode, the upper arm link in ectoskeleton and lower arm link is respectively arranged with upper arm band and underarm band, for the fixing wearing of patient's upper limb; Shoulder joint and elbow joint are respectively arranged with Power Drive Unit, and Power Drive Unit can drive training aids mechanism assisting patients upper limb to carry out passive type, active and/or resistance type rehabilitation training under the effect of controller.
Preferably, described level(l)ing mechanism is slide way type structure, can the interior slip of scope in the horizontal direction.
Preferably, described height adjustment mechanism is telescopic structure, can elongate or shorten in scope in the vertical direction.
Preferably, described upper arm link and lower arm link are the drawing and pulling type structure with locking device, can carry out length adjustment according to different patient demand.
Further, level(l)ing mechanism and altitude mixture control head cooperatively interact for adjusting fixing overall upper-limb recovery training device.
Compared with prior art, suitable especially upper extremity function sexual disorders patient uses this utility model, can carry out passive type, active and/or resistance type training, reach specific aim rehabilitation effect according to the demand of different patient; During use can precise positioning laminating patient each joint of upper limb, avoid misplace exercise cause tissue injury and muscle sprain; This training aids structure is simple, and volume is little, and quality is light, and easy to use, training effect is good, and training precision is high, low cost of manufacture, applied range.
Accompanying drawing illustrates:
Fig. 1 is agent structure module diagram of the present utility model.
Fig. 2 is the agent structure principle schematic of training aids mechanism in this utility model.
Detailed description of the invention:
Also by reference to the accompanying drawings this utility model is described further below by embodiment.
Embodiment 1:
The agent structure of the intelligent upper-limb recovery training device that the present embodiment relates to comprises controller 1, detection module 2, Power Drive Unit 3 and training aids mechanism 4, controller 1 is connected with detection module 2 and power drive module 3 electrical information respectively, and detection module 2 and power drive module 3 installation by adhering are in training aids mechanism 4; Controller 1, for being provided with the computer of control system, can complete the control to training aids and infomation detection process; Detection module 2 comprises muscular strength sensor, myoelectric sensor, locus sensor and pressure transducer, can the movable information of patient and the active force of physiologic information and training aids in collect and transmit training aids use procedure, forms record simultaneously and is exported; Power Drive Unit 3 comprises two groups of servomotors with servo drive system, respectively in order to drive the motion of shoulder joint in ectoskeleton and elbow joint; Training aids mechanism 4 comprises level(l)ing mechanism 5, height adjustment mechanism 6, top links 7, shoulder fixed mechanism 8, ectoskeleton 9, upper arm band 10 and underarm band 11, ectoskeleton 9 is formed, for supporting the upper limb of patient by passing through shoulder joint 12, upper arm link 13, elbow joint 14, lower arm link 15 and the hand rest 16 that kinematic pair mode connects; One end of shoulder fixed mechanism 8 is connected with height adjustment mechanism 6 and level(l)ing mechanism 5 by top links 7, is respectively used to the fixed position adjusting upper-limb recovery training device horizontal and vertical direction; The other end of shoulder fixed mechanism 8 is connected with ectoskeleton 9 in kinematic pair mode, wherein upper arm link 13 and lower arm link 15 is respectively arranged with upper arm band 10 and underarm band 11, for the fixing wearing of patient's upper limb; Shoulder joint 12 and elbow joint 14 are respectively arranged with Power Drive Unit 3, and Power Drive Unit 3 can drive training aids mechanism 4 assisting patients upper limb to carry out passive type, active and/or resistance type rehabilitation training under the effect of controller 1.
The level(l)ing mechanism 5 related in the present embodiment is slide way type structure, can slide in scope in the horizontal direction; Height adjustment mechanism 6 is telescopic structure, and can elongate or shorten in scope in the vertical direction, both cooperatively interact for adjusting fixing overall upper-limb recovery training device; Upper arm link 13 and lower arm link 15 are the drawing and pulling type structure with locking device, can carry out length adjustment according to different patient demand.
The training of passive type described in the present embodiment is mainly applicable to 0-2 level patient, training content specifically needs to plan according to patient, comprise simple joint training (the inside and outside rotation of shoulder joint and upper act, elbow joint is stretched, bend, and carpal joint varus, turns up) and multi-joint compound train (overall upper limb is lifted, puts down, swing etc.); Described active training is mainly applicable to 3-4 level patient, and training content is mainly assisting patients and completes related actions, improves the muscular strength of patient; Described resistance type training is mainly applicable to 4-5 level patient, the training aids active force information that training process middle controller 1 collects according to detection module 2 starts training aids with delayed form, keep active force (resistance) stable between patient and training aids, to improve the muscular strength of patient further.
Embodiment 2:
The intelligent upper-limb recovery training device usability methods related in the present embodiment is:
(1) first training aids is fixed on chair, level(l)ing mechanism 5, height adjustment mechanism 6, upper arm link 13 and lower arm link 16 is regulated according to patient's concrete condition after patient settles down, make the ectoskeleton of training aids and the upper limb alignment of patient, be fixed in training aids by upper arm band 10 and underarm band 11 by the upper limb of patient again, namely the hand rest 16 of being put into of patient completes wearing simultaneously;
(2) carry out training parameter setting and model selection by controller 1, then start training aids and can carry out corresponding rehabilitation training.
Claims (2)
1. an intelligent upper-limb recovery training device, it is characterized in that agent structure comprises controller, detection module, Power Drive Unit and training aids mechanism, controller ceases with detection module and power drive modular telecommunications respectively and is connected, and detection module and power drive Module-embedding formula are arranged in training aids mechanism, controller is the computer being provided with control system, detection module comprises muscular strength sensor, myoelectric sensor, locus sensor and pressure transducer, Power Drive Unit comprises two groups of servomotors with servo drive system, training aids mechanism comprises level(l)ing mechanism, height adjustment mechanism, top links, shoulder fixed mechanism, ectoskeleton, upper arm band and underarm band, ectoskeleton is by the shoulder joint passing through kinematic pair mode and connect, upper arm link, elbow joint, lower arm link and hand rest are formed, one end of shoulder fixed mechanism is connected with height adjustment mechanism and level(l)ing mechanism by top links, the other end of shoulder fixed mechanism is connected with ectoskeleton in kinematic pair mode, upper arm link in ectoskeleton and lower arm link are respectively arranged with upper arm band and underarm band, shoulder joint and elbow joint are respectively arranged with Power Drive Unit, and Power Drive Unit drives training aids mechanism assisting patients upper limb to carry out passive type, active and/or resistance type rehabilitation training under the effect of controller.
2. intelligent upper-limb recovery training device according to claim 1, is characterized in that level(l)ing mechanism is slide way type structure; Height adjustment mechanism is telescopic structure; Upper arm link and lower arm link are the drawing and pulling type structure with locking device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520558269.1U CN204814707U (en) | 2015-07-29 | 2015-07-29 | Intelligent upper limbs rehabilitation training device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520558269.1U CN204814707U (en) | 2015-07-29 | 2015-07-29 | Intelligent upper limbs rehabilitation training device |
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| CN204814707U true CN204814707U (en) | 2015-12-02 |
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| CN201520558269.1U Expired - Fee Related CN204814707U (en) | 2015-07-29 | 2015-07-29 | Intelligent upper limbs rehabilitation training device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108261717A (en) * | 2018-03-09 | 2018-07-10 | 中科院合肥技术创新工程院 | A kind of reciprocating force exercise equipment of intelligence lower limb |
| CN108553826A (en) * | 2018-05-21 | 2018-09-21 | 安阳市翔宇医疗设备有限责任公司 | A kind of touch roller sphere recovery training appliance for recovery |
| CN108578171A (en) * | 2018-03-21 | 2018-09-28 | 常熟京常智能科技有限公司 | A kind of robot arm of intelligent rehabilitation training |
| CN109498366A (en) * | 2018-11-28 | 2019-03-22 | 北京科技大学 | A kind of system of auxiliary arm movement |
-
2015
- 2015-07-29 CN CN201520558269.1U patent/CN204814707U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108261717A (en) * | 2018-03-09 | 2018-07-10 | 中科院合肥技术创新工程院 | A kind of reciprocating force exercise equipment of intelligence lower limb |
| CN108578171A (en) * | 2018-03-21 | 2018-09-28 | 常熟京常智能科技有限公司 | A kind of robot arm of intelligent rehabilitation training |
| CN108578171B (en) * | 2018-03-21 | 2023-11-07 | 常熟京常智能科技有限公司 | Robot arm of intelligent rehabilitation training |
| CN108553826A (en) * | 2018-05-21 | 2018-09-21 | 安阳市翔宇医疗设备有限责任公司 | A kind of touch roller sphere recovery training appliance for recovery |
| CN109498366A (en) * | 2018-11-28 | 2019-03-22 | 北京科技大学 | A kind of system of auxiliary arm movement |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151202 Termination date: 20210729 |
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| CF01 | Termination of patent right due to non-payment of annual fee |