Wearable and convertible passive and active movement training robot: apparatus and method

Abstract

In respects of limitations and problems of motor function training devices, the present invention provides a wearable and convertible device and a method for controlling combined motor function training. This device integrates the functions of both passive stretching function in the existing CPM devices and additional active assistive training function. Without a force / torque sensor element in the device, the present passive stretching control can still be adapted to hypertonia (high muscle tone or stiffness of joints) of the limb, and the present active assistive control can still be implemented for enhancing voluntary active movement from patients. With such present method, much more applications of active assistive training are supported at substantially no additional cost. On the other hand, the safety of such stretching devices without using force / torque sensor is improved, which assists in increasing the efficiency of the device of the present invention.

Description

technical field [0001] The present invention relates to a sports rehabilitation device and control method for the training of affected limbs, in particular, to a simplified structure (no need to use additional force / torque sensor elements), which can still achieve safe and effective passive stretching and A limb training device with multiple functions such as active assistance. Background technique [0002] The physiological characteristics of limb joints and the coordinated control of nerves are very important for the functional movement of the human body. Neurologic disorders and musculoskeletal injuries result in reduced range of motion, increased muscle stiffness, increased muscle tone, and impaired neural coordination and control. [0003] The present invention aims to solve clinical rehabilitation problems related to spasticity, contracture, muscle weakness and neural control. Nerve damage, including stroke, spinal cord injury, multiple sclerosis, and cerebral palsy,...

AI Technical Summary

Problems solved by technology

However, traditional physical stretching is very laborious, and usually the therapist needs to stretch the patient's spastic limbs with great effort; at the same time, the strength of manual stretching depends on the therapist's experience and subjective feeling

[0006] 2) In induced active movement training, without the assistance of a physical therapist or equipment, patients cannot achieve continuous and stable active limb movements, so it is difficult to achieve the goal of fully recovering limb motor function through their own exercise attempts

In addition, patients attempting to perform voluntary limb movements due to lack of rehabilitation knowledge or overtraining can lead to potentially exacerbated injury

[0007] 3) Due to the shortage of therapist resources, patients cannot receive sufficient exercise rehabilitation training, which leads to short-term rehabilitation training effects not being maintained for a long time

On the same device, the passive stretching function with a large output torque cannot be realized at the same time, ignoring the combination of active / passive training and post-training evaluation

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