Wearable device based on flexible touch sense

Abstract

The invention discloses a wearable device based on flexible touch in the technical field of rehabilitation, and the wearable device comprises a fixing assembly, the fixing assembly is used for being fixed with the body of a patient, the fixing assembly is hinged with a big arm rehabilitation assembly, the big arm rehabilitation assembly is provided with a display screen and a forearm rehabilitation assembly, the forearm rehabilitation assembly comprises a forearm fixing plate and a fixing ring, and the forearm fixing plate is provided with a flexible touch. The forearm fixing plate is provided with a plurality of first electromagnets arranged in a matrix mode, the fixing ring comprises a plurality of magnet strips corresponding to the first electromagnets, a flexible fixing assembly is arranged in the fixing ring and used for fixing the upper arm and the forearm of a patient, and the control system is used for controlling the first electromagnets to work. The controller can also be used for controlling the flexible fixing assembly to work, and the problems that in the prior art, only all joints of a patient can be driven to rotate, the radius and ulna are difficult to drive to rotate, medical workers need to participate in the forearm rotation training process, and personnel waste is likely to be caused are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of rehabilitation, and in particular is a wearable device based on flexible touch. Background Art

[0002] Ischemic cardiovascular and cerebrovascular diseases are a series of diseases with corresponding symptoms caused by insufficient blood supply to the heart and brain-related blood vessels due to various reasons. They seriously threaten human health, especially ischemic cerebrovascular diseases, which have a very high disability rate. Most patients often have varying degrees of limb dysfunction, which seriously affects their quality of life. During the patient rehabilitation process, we found that patients with upper limb dysfunction have relatively slow functional recovery. In addition, the time for rehabilitation treatment in the hospital is limited, and the treatment of internal and external rotation of the upper limb forearm is often insufficient, which seriously affects the daily life of patients.

[0003] Remote ischemic preconditioning training enhances the tolerance of remote non-vital organs and remote target organs to ischemia-reperfusion injury by subjecting them to short-term, multiple sublethal doses of ischemia / hypoxia treatment, which is beneficial for important organs such as the heart and brain to resist functional damage caused by ischemia and hypoxia. It has the advantages of being non-invasive, simple, easy, low-cost, and safe. Many studies have shown that for ischemic cardiovascular and cerebrovascular diseases, remote ischemic preconditioning training can improve coronary blood flow reserve fraction, brain metabolism, and cerebral blood flow, and has a positive significance for improving the function of important organs such as the heart and brain. It can even improve the symptoms of neurological deficits caused by ischemic stroke. Based on this, during the rehabilitation training of patients, we give patients brief ischemic adaptation training according to their tolerance, which can make the rehabilitation treatment of patients more effective and enhance the hypoxia tolerance of important organs such as the heart and brain.

[0004] The existing technology uses rehabilitation devices that can replace medical staff to assist patients in bending joints, but the device is difficult to drive the radius and ulna to rotate. If the forearm needs to be rotated to prevent hand flexion contracture, medical staff need to participate and manually rotate the patient's forearm for training. In view of this. We hope that during the rehabilitation process of stroke patients, there will be a device that can replace medical staff to assist patients in bending joints and rotating forearms to avoid muscle contracture, so as to improve the patient's rehabilitation treatment effect. At the same time, both upper arms are connected to air bags, and transient ischemic adaptation training can be performed during rehabilitation treatment. Summary of the invention

[0005] The purpose of the present invention is to provide a wearable device based on flexible touch, which is used to solve the problem in the prior art that it can only drive the patient's joints to rotate, but is difficult to drive the radius and ulna to rotate, and can reduce the participation of medical personnel and avoid waste of personnel; at the same time, the patient's blood pressure is monitored during the treatment process, and if the condition permits, remote ischemic pre-adaptation training of different time limits can be carried out alone or during rehabilitation treatment, so as to improve cardiovascular and cerebral blood flow and enhance the rehabilitation treatment effect.

[0006] In order to achieve the above-mentioned purpose, the technical scheme of the present invention is as follows: a wearable device based on flexible tactile sense, comprising a fixing component, the fixing component is used to be fixed to the patient's body, the fixing component is hinged with an upper arm rehabilitation component, the upper arm rehabilitation component is used to fix the patient's upper arm and drive the patient's shoulder joint to rotate, the upper arm rehabilitation component is provided with a display screen and a forearm rehabilitation component, the forearm rehabilitation component includes a forearm fixing plate and a fixing ring, the forearm fixing plate is provided with a first electromagnet arranged in a matrix, the fixing ring includes a plurality of magnet bars corresponding to the first electromagnet, a flexible fixing component is provided in the fixing ring, and the flexible fixing component is used to fix the patient's upper arm and forearm;

[0007] It also includes a control system, which is used to control the operation of the first electromagnet and adjust the position of the magnet bar by changing the magnitude and direction of the magnetic force of the first electromagnet. The controller can also be used to control the operation of the flexible fixing component. It can also be used to collect the patient's blood pressure information and control the display screen, the flexible fixing component and the first electromagnet according to the blood pressure information.

[0008] Furthermore, the flexible fixing component includes an air pump and symmetrically arranged sleeves, each of which is provided with a plurality of airbags, each of which is connected to the air pump and has an electromagnetic valve at the connection point. The outer wall of the airbag on any sleeve is fixedly connected to the inner wall of the fixing ring, and this part of the outer wall of the airbag is fixedly connected to the upper arm fixing component. The other sleeve is detachably connected to the fixing component, and the control system controls the operation of the air pump and the electromagnetic valve according to user demand information.

[0009] Furthermore, the control system includes a controller and several pressure sensors, and the pressure sensors are used to collect the patient's blood pressure information. The controller is used to receive user input demand information, control the operation of the first electromagnet according to the demand information and blood pressure information, adjust the position of the magnet bar by changing the magnetic force size and direction of the first electromagnet, and control the operation of the air pump and the solenoid valve according to the demand information. The controller can also be used to control the operation of the air pump, the solenoid valve and the display screen according to the blood pressure information.

[0010] Furthermore, the upper arm rehabilitation assembly includes an upper arm fixing plate, to which a plurality of first fixing strips are fixedly connected, the other ends of the first fixing strips are detachably connected to the upper arm fixing plate, the upper arm fixing plate is hinged to the fixing assembly, and the other end of the upper arm fixing plate is hinged to the forearm fixing plate.

[0011] Furthermore, any end of the first electromagnet is fixedly connected to the second electromagnet.

[0012] Furthermore, the second electromagnet is fixedly connected to one end of the first electromagnet close to the upper arm fixing plate. The upper arm rehabilitation assembly also includes a magnet ring, which slides with the outer wall of the fixing plate. Pull ropes are symmetrically arranged on the magnet ring, and the other ends of the pull ropes are fixedly connected to the fixing assembly. The controller can also be used to control the operation of the second electromagnet according to demand information, thereby adjusting the position of the magnet ring.

[0013] Furthermore, the control system also includes a flexible pressure sensor, which is used to collect pressure information applied by the patient's upper arm on the inner wall of the cuff, and the controller controls the second electromagnet to work according to the pressure information.

[0014] Furthermore, the control system also includes an angular velocity sensor, which is used to collect angle information of the rotation of the fixed ring, and the controller controls the first electromagnet to work according to the angle information.

[0015] Furthermore, the control system also includes a plurality of distance sensors, each of which is used to collect distance information between the fixed ring and the first electromagnet, and the controller controls the operation of the first electromagnet according to the distance information.

[0016] Furthermore, the controller can also control the operation of the second electromagnet according to the distance information.

[0017] The technical principles and beneficial effects of the above scheme are as follows:

[0018] (1) The device drives the fixed ring to rotate by changing the direction and magnitude of the current passing through the first electromagnet, thereby driving the patient's forearm to rotate and bend, simulating the action of medical staff rotating and bending the patient's forearm during the rehabilitation of stroke patients. Compared with the existing technology, the device can not only drive the patient's elbow joint to rotate, but also drive the patient's radius and ulna to rotate, with less medical staff involvement, which can effectively reduce the workload of medical staff and facilitate patients to conduct rehabilitation training on their own.

[0019] (2) The device fixes the patient's arm by setting a flexible fixing component to prevent the patient's arm and the device from moving relative to each other, which would affect the effect of the device. The fixed position can also be adjusted according to the content of the rehabilitation training to provide the patient's arm tissue with a certain buffer space to reduce damage to the patient during use. It can also avoid long-term compression of the same position during use, which would cause blood circulation problems at that position and affect the rehabilitation effect. In the process of changing the fixed position, the airbag is repeatedly inflated to massage the patient's arm, stimulate the patient's skin, promote blood circulation, and enhance the rehabilitation effect of the device.

[0020] (3) The device can also perform short-term ischemic adaptation training on patients through the flexible fixing component during the patient's forearm flexion and rotation training, thereby improving the coronary blood flow reserve fraction, brain metabolism and cerebral blood flow, and the functions of important organs such as the heart and brain. It can even improve the symptoms of neurological deficits caused by ischemic stroke, further enhancing the effect of the device. At the same time, the device can also monitor the patient's blood pressure simultaneously, judge the patient's physical condition based on the changes in blood pressure, and terminate the ischemic training in time to avoid adverse effects on the patient.

[0021] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A partial isometric view of a forearm rehabilitation component and an upper arm rehabilitation component of an embodiment of a wearable device based on flexible touch of the present invention;

[0023] Figure 2 A front view of an embodiment of a wearable device based on flexible tactile sensation of the present invention;

[0024] Figure 3 It is a partial top view of a forearm rehabilitation component and an upper arm rehabilitation component of an embodiment of a wearable device based on flexible touch of the present invention;

[0025] Figure 4 AA cross-sectional view of an embodiment of a wearable device based on flexible tactile sensation of the present invention;

[0026] Figure 5 BB cross-sectional view of an embodiment of a wearable device based on flexible tactile sensation of the present invention;

[0027] Figure 6 Schematic diagram of a circuit of an embodiment of a wearable device based on flexible touch of the present invention.

[0028] The figure marks in the drawings of the specification include: forearm rehabilitation component 1, forearm fixing plate 11, first electromagnet 12, fixing ring 13, magnet bar 131, second electromagnet 14, upper arm rehabilitation component 2, upper arm fixing plate 21, magnet ring 22, pull rope 23, first fixing bar 24, fixing component 3, fixing frame 31, second fixing bar 32, flexible fixing component 4, sleeve 41, airbag 42, display screen 5. DETAILED DESCRIPTION

[0029] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0030] In the description of the present invention, it is to be understood that the terms “longitudinal”, “lateral”, “vertical”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside” and “outside” etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0031] In the description of the present invention, unless otherwise specified and limited, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the internal connection between two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0032] The following is further described in detail through specific implementation methods:

[0033] Example 1

[0034] As attached Figure 1-6As shown: A wearable device based on flexible tactile sensation includes a fixing component 3, the fixing component 3 is used to fix to the patient's body, the fixing component 3 includes a fixing frame 31, a plurality of second fixing strips 32 are bonded and fixed to the fixing frame 31, and the other ends of the second fixing strips 32 are detachably connected to the fixing frame 31 through Velcro, and a large arm rehabilitation component 2 is provided on the fixing frame 31, the large arm rehabilitation component 2 is used to fix the patient's large arm and drive the patient's shoulder joint to rotate, and the large arm rehabilitation component 2 includes an arc-shaped large arm fixing plate 21, and a plurality of first fixing strips 24 are bonded and fixed to the large arm fixing plate 21, and the other ends of the first fixing strips 24 are bonded and fixed to the large arm fixing plate 21. The upper arm fixing plate 21 is detachably connected to the upper arm fixing plate 21 by Velcro, the upper arm fixing plate 21 is hinged to the fixing component 3, the other end of the upper arm fixing plate 21 is hinged to the forearm fixing plate 11, a forearm rehabilitation component is provided on the side of the upper arm fixing plate 21 away from the fixing frame 31, the forearm rehabilitation component 1 includes a forearm fixing plate 11 and a fixing ring 13, the forearm fixing plate 11 and the upper arm fixing plate 21 are welded and fixed, a plurality of first electromagnets 12 arranged in a matrix are fixedly connected to the forearm fixing plate 11 by bolts, the fixing ring 13 includes a plurality of magnet strips 131 corresponding to the first electromagnets 12, and the magnetic poles of the same side wall of the magnet strips 131 The flexible fixing assembly 4 is arranged in a staggered manner, and the fixing ring 13 is provided with a flexible fixing assembly 4, which is used to fix the patient's upper arm and forearm. The flexible fixing assembly 4 includes an air pump and a symmetrically arranged sleeve 41. The sleeve 41 is provided with a plurality of air bags 42, and the air bags 42 are connected to the air pump, and a solenoid valve is provided at the connection point. The outer wall of the air bag 42 on any sleeve 41 is bonded and fixed to the inner wall of the fixing ring 13, and the outer wall of the air bag 42 of this part is bonded and fixed to the upper arm fixing assembly 3, and the other sleeve 41 is detachably connected to the fixing frame 31 by Velcro, and also includes a control system, which includes a controller and a plurality of pressure The sensor and pressure sensor are both bonded and fixed to the outer wall of the airbag 42, and the pressure sensors are used to collect the patient's blood pressure information. The controller is fixedly connected to the fixing frame 31 by bolts. The display screen 5, the first electromagnet 12, the air pump and the solenoid valve are all electrically connected to the controller. The controller is used to receive user input demand information, control the operation of the first electromagnet 12 according to the demand information, adjust the position of the magnet bar 131 by changing the magnetic force size and direction of the first electromagnet 12, and control the operation of the air pump and the solenoid valve according to the demand information. The controller can also be used to control the operation of the air pump, the solenoid valve and the display screen 5 according to the blood pressure information.

[0035] The specific implementation process is as follows: when using the device, according to the position of the patient's arm to be rehabilitated, adjust the relative position of the sleeve 41 detachably connected to the fixing frame 31 and the fixing frame 31, fix the fixing frame 31 to the patient's body through the second fixing bar 32, pass the patient's arm to be rehabilitated through the sleeve 41, and then fix the patient's upper arm to the upper arm fixing plate 21 through the first fixing sleeve, and adjust the position of the fixing ring 13 to prevent the patient's elbow joint from entering the fixing ring 13, and then start the device, and the medical staff or accompanying personnel input the required information into the controller, such as the need to bend the forearm and repeat three times or the need to rotate the forearm to the left to fifteen degrees, etc.

[0036] When the patient's forearm needs to be rotated, the controller controls the first electromagnet 12 to work. According to the direction of the forearm rotation in the demand information, the direction of the current passing through the first electromagnet 12 is changed to change the magnetic pole of the first electromagnet 12, so that the magnetic poles of the first electromagnet 12 in the previous row of the magnet strip 131 close to the first electromagnet 12 are opposite to the magnetic poles of the corresponding magnet strip 131, and the first electromagnet 12 in this row is attracted to the magnet strip 131. Then, the magnetic poles of the first electromagnet 12 in the next row are controlled to be the same as the magnetic poles of the corresponding magnet strip 131, and the first electromagnet 12 in this row is repelled from the magnet strip 131, thereby pushing the magnet strip 131 toward the magnet strip 131. The first electromagnet 12 rotates in the opposite direction, thereby driving the patient's forearm to rotate. Since the patient's upper arm is fixed to the upper arm fixing plate 21, only the patient's forearm rotates. Since the shape of the first electromagnet 12 is fixed, the angle at which the first electromagnet 12 drives the fixing ring 13 to rotate by changing the magnetic pole is also fixed. The controller obtains the angle of rotation of the patient's forearm according to the number of times the first electromagnet 12 changes the magnetic pole. When the angle of rotation of the patient's forearm is close to the rotation angle in the required information, the controller controls the first electromagnet 12 to work again, driving the patient's forearm to move in the opposite direction. After resetting, the controller repeats the above steps until the number of rotations in the required information is completed.

[0037] For example, when the patient's forearm needs to rotate clockwise, a certain magnet bar 131 is close to the magnetic pole of the first electromagnet 12 at N, and the controller changes the magnetic poles of all the first electromagnets 12 that are parallel to the magnet bar 131, located on the left side of the magnet bar 131 and closest to it, so that the magnetic pole of the first electromagnet 12 in this row is S, and then changes the magnetic poles of all the first electromagnets 12 that are parallel to the magnet bar 131, located on the right side of the magnet bar 131 and closest to it, so that the magnetic pole of the first electromagnet 12 in this row is N. The first electromagnet 12 with the magnetic pole S attracts the magnet bar 131, and the first electromagnet 12 with the magnetic pole N repels the magnet bar 131, driving the magnet bar 131 to move toward the first electromagnet 12 with the magnetic pole S, thereby rotating the fixing ring 13.

[0038] When the forearm needs to be bent, the controller controls the current passing through the first electromagnet 12 so that the magnetic poles of all the first electromagnets 12 are the same as the adjacent magnet bars 131. At the same time, the controller adjusts the current passing through each column of the first electromagnets 12 according to the distance from each column of the first electromagnets 12 to the patient's upper arm, so that the magnetic force of the first electromagnet 12 increases with the increase of the distance from the patient's upper arm, and the repulsive effect of the first electromagnet 12 on the magnet bar 131 also increases with the increase of the distance from the patient's upper arm, thereby driving the patient's elbow joint to bend. Then the controller controls the component to gradually reduce the current passing through the first electromagnet 12, and the repulsive effect between the first electromagnet 12 and the magnet bar 131 is reduced. Under the action of gravity, etc., the patient's arm is reset. Then the controller repeats the above steps until the number of bends in the required information is completed.

[0039] After starting the device, the controller controls the air pump and some solenoid valves fixed to the fixing ring 13 to work, and inflate the airbag 42 corresponding to the part of the solenoid valve, so that the airbag 42 expands and clamps the patient's upper arm or forearm. During the use of the device, the controller changes the opening and closing of the solenoid valve according to the type of rehabilitation training required in the demand information, so that the inflated airbag 42 changes, so that the position of the flexible fixing component 4 in contact with the patient's arm, for example, when the patient is performing forearm rotation training, the controller controls the airbag 42 connected to the fixing ring 13 to expand and clamp the patient's upper arm or forearm. The solenoid valve corresponding to the airbag 42 is opened, allowing the air pump to inflate air into this part of the airbag 42. This part of the airbag 42 clamps the patient's forearm to fix the patient's arm. Subsequently, the controller controls this part of the airbag 42 to close, and opens the solenoid valve corresponding to the airbag 42 connected to the upper arm fixing plate 21, extracts the gas in this part of the airbag 42, and clamps the part of the airbag 42 and fixes it to the patient's upper arm, so that when the fixing ring 13 drives the patient's forearm to rotate, the patient's upper arm can rotate to a certain extent, thereby avoiding setting the rotation angle too large and damaging the patient's elbow joint.

[0040] At the same time, during the rehabilitation training of the patient, the medical staff can judge whether the patient can perform ischemic training according to the patient's rehabilitation status. When the patient can perform ischemic training, the controller starts the air pump before controlling the first electromagnet to work, and opens the solenoid valve at the upper arm position and the solenoid valve corresponding to the airbag 42 connected to the fixing frame 31, so that the airbag 42 at the upper arm position is inflated to compress the upper arms on both sides of the patient. At the same time, the pressure sensor collects the patient's blood pressure information in real time. When the blood pressure information changes, such as a sudden decrease or increase, the patient's arm is in an ischemic state. Then the controller controls the first electromagnet to work and drive the patient to perform rehabilitation training. During this process, the controller controls the air pump to periodically pump air and inflate air according to the set time interval, so that the airbag 42 periodically compresses the upper arms on both sides of the patient and performs periodic ischemic treatment on the patient. When the patient's blood pressure information reaches the set abnormal range, the controller controls the air pump to work, extracts the gas in the inflated airbag 42, relieves its pressure on the patient, and stops the ischemic training.

[0041] When the controller obtains the patient's blood pressure information through the pressure sensor, the controller controls the display screen according to the blood pressure information, and displays the patient's blood pressure to the patient and medical staff through the display screen. At the same time, the patient can also terminate ischemic training according to the blood pressure and his own experience, thereby reducing the probability of ischemic training causing damage to the patient's body.

[0042] When ischemic training is not performed, the patient can also start the air pump and any solenoid valve by himself to perform a blood pressure test. The pressure sensor collects the patient's blood pressure information, and the controller controls the display screen to output the blood pressure information.

[0043] During the training process, the upper arm fixing plate 21 can be rotated to drive the patient's shoulder joint to rotate, thereby driving the patient's forearm to rotate and bend at different angles.

[0044] Based on the above scheme, in order to facilitate medical staff to adjust the position of the fixing ring 13 during the use of the device, the second electromagnet 14 is fixedly connected to the end of the first electromagnet 12 close to the upper arm fixing plate 21 by bolts. Therefore, during the use of the device, medical staff can judge whether the position of the fixing ring 13 is in a suitable state according to the state of each joint during the rotation and lifting of the patient's arm. When the fixing ring 13 moves toward the patient's upper arm during training or is worn incorrectly during wearing, causing the fixing ring 13 to block the patient's elbow joint, the second electromagnet 14 can be controlled to work, and the second electromagnet 14 repels the magnet bar 131, pushing the fixing ring 13 to move in a direction away from the patient's elbow joint until the patient's elbow joint is released from the fixing ring 13.

[0045] Based on the above scheme, in order to facilitate the rehabilitation of the patient's upper arm and reduce the workload of medical staff, the upper arm rehabilitation component 2 also includes a magnet ring 22, which is slidably matched with the outer wall of the fixed plate, and a pull rope 23 is symmetrically bonded and fixed to the magnet ring 22, and the other end of the pull rope is bonded and fixed to the fixing frame 31. The second electromagnet 14 is electrically connected to the controller, and the controller can also be used to control the second electromagnet 14 to work according to the demand information, so as to adjust the position of the magnet ring 22. Therefore, during the use of the device, when the demand information includes rotating the upper arm, the controller controls The second electromagnet 14 works, and by changing the current passing through the second electromagnet 14, the magnetic poles of all the second electromagnets 14 are opposite to the magnet ring 22, so that the second electromagnet 14 drives the magnet ring 22 to move in the direction of the forearm fixing plate 11, pulling the pull rope 23 to move, and the pull rope 23 drives the upper arm fixing plate 21 to rotate, thereby driving the patient's shoulder joint to rotate and the upper arm to lift up, and then the controller gradually reduces the current passing through the second electromagnet 14, so that the attraction between the second electromagnet 14 and the magnet ring 22 gradually decreases, and under the action of gravity, the patient's upper arm is gradually reset.

[0046] Based on the above scheme, in order to enable the device to adjust the rehabilitation training process according to the patient's wishes, the control system also includes a flexible pressure sensor, which is used to collect pressure information applied by the patient's upper arm on the inner wall of the sleeve 41. The flexible pressure sensors are electrically connected to the controller. The controller controls the second electromagnet 14 to work according to the pressure information. Therefore, as the rehabilitation training proceeds, the patient's nerve and muscle states gradually recover, and the arm weakness state gradually eases. When using the device, the flexible pressure sensor continuously collects the pressure information applied by the patient to various locations on the inner wall of the sleeve 41. When the pressure information at a certain location changes suddenly, the patient may want to move in that direction. At this time, the controller controls the second electromagnet 14 to work, and drives the patient's upper arm to rotate in that direction through the pull rope 23 and the upper arm fixing plate 21. For example, during the patient's upper arm resetting process, the patient's upper arm squeezes the flexible pressure sensor below, so that the pressure information at this position increases, while the pressure information above the patient's upper arm is small. If the patient raises his arm during this process, the pressure information above the patient's upper arm increases. At this time, the controller determines that the patient wants to raise his arm, and thus drives the patient's upper arm to raise by controlling the second electromagnet 14.

[0047] Based on the above scheme, in order to reduce the unreasonable rotation angle of the forearm in the demand information set by the medical staff, which causes injuries to the patient during the rehabilitation process, the control system also includes an angular velocity sensor, which is fixedly connected to the fixing ring 13 by bolts, and the angle sensor is electrically connected to the controller. The angular velocity sensor is used to collect the angle information of the rotation of the fixing ring 13, and the controller controls the first electromagnet 12 to work according to the angle information. Therefore, during the use of the device, the angular velocity sensor continuously collects the angle change of the rotation of the fixing ring 13, that is, the angle information. When the acceleration of the rotation of the fixing ring 13 changes suddenly, the controller controls the first electromagnet 12 to work and drive the patient's forearm to rotate in the direction of the sudden change. For example, when the forearm rehabilitation component drives the patient's forearm to rotate clockwise, when the acceleration increases, the patient moves in the clockwise direction autonomously, and the controller controls the first electromagnet 12 to drive the patient's forearm to continue to rotate clockwise. If the acceleration becomes a negative number, the patient moves in the counterclockwise direction autonomously, and the controller controls the first electromagnet 12 to drive the patient's forearm to move in the counterclockwise direction.

[0048] At the same time, when the forearm rehabilitation component 1 drives the patient's forearm to rotate, the angle information does not change after the first electromagnet 12 changes the current direction once. At this time, the patient's forearm rotates to the limit, and the controller controls the first electromagnet 12 to work, driving the patient's forearm to rotate until it is reset, and when the patient's forearm is driven to rotate next time, the patient's forearm is only rotated to the angle at which the angle information no longer changes.

[0049] Based on the above scheme, in order to enable the device to further adjust the rehabilitation training process according to the patient's wishes, the control system also includes a number of distance sensors, the model of the distance sensors is preferably T0F050F, the distance sensors are fixedly connected to the forearm fixing plate 11 by bolts, the distance sensors are used to collect the distance information between the fixing ring 13 and the first electromagnet 12, the distance sensors are electrically connected to the controller, and the controller controls the first electromagnet 12 to work according to the distance information. Therefore, during the use of the device, the distance sensor continuously collects the distance information between the fixing ring 13 and the forearm fixing plate 11, and the controller drives the forearm rehabilitation component 11 through the forearm rehabilitation component 11. When the patient's forearm is bent, if the acceleration of the distance change suddenly changes, the controller determines that the patient wants to move in the direction of the sudden change, and then the controller controls the first electromagnet 12 to work, driving the patient's forearm to move in that direction. For example, when the first electromagnet 12 drives the patient's forearm to move upward, the acceleration of the distance change between the fixed ring 13 and the forearm fixing plate 11 increases, that is, the patient's forearm is lifted up autonomously during the movement. At this time, the controller determines that the patient wants to move upward. If the acceleration is suddenly negative, that is, the patient's forearm is lowered autonomously during the movement, the controller determines that the patient wants to move downward, and the controller controls the first electromagnet 12 to work, causing the patient's forearm to drop.

[0050] At the same time, the controller can also obtain the bending angle of the patient's forearm according to the distance between the distance sensors and the distance information, and record the angle at which the distance acceleration changes suddenly. If the number of sudden changes at the same angle exceeds the set value during rehabilitation training, the patient may not be able to accept a bending greater than this angle. To avoid injury to the patient, the next time the controller drives the patient's forearm to bend through the first electromagnet 12, when it bends to this angle, the controller drives the patient's forearm to reset through the first electromagnet 12.

[0051] Based on the above scheme, in order to make the device not rely on the continuous observation of medical staff and prevent the patient's elbow joint from entering the fixing ring 13, the controller can also control the second electromagnet 14 to work according to the distance information. Therefore, during the use of the device, the distance sensor continuously collects the distance information from the fixing ring 13 to the forearm fixing plate 11. When the controller controls the first electromagnet 12 to work and drives the patient's forearm to bend, after a set time, the distance information does not change significantly. At this time, the patient's elbow joint may be located in the fixing ring 13, causing the patient to be unable to bend his forearm. At this time, the controller controls the second electromagnet 14 to work, promotes the fixing ring 13 to move, and releases the patient's elbow joint.

[0052] The above is only an embodiment of the present invention, and the common knowledge such as the known specific structure and / or characteristics in the scheme is not described in detail here. It should be pointed out that for those skilled in the art, several deformations and improvements can be made without departing from the structure of the present invention, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A wearable device based on flexible tactile sensation, Features: It includes a fixing component, which is used to fix with the patient's body, the fixing component is hinged with an upper arm rehabilitation component, the upper arm rehabilitation component is used to fix the patient's upper arm and drive the patient's shoulder joint to rotate, the upper arm rehabilitation component is provided with a display screen and a forearm rehabilitation component, the forearm rehabilitation component includes a forearm fixing plate and a fixing ring, the forearm fixing plate is provided with a first electromagnet arranged in a matrix, the fixing ring includes a plurality of magnet bars corresponding to the first electromagnet, and a flexible fixing component is provided in the fixing ring, the flexible fixing component is used to fix the patient's upper arm and forearm; It also includes a control system, which is used to control the operation of the first electromagnet and adjust the position of the magnet bar by changing the magnitude and direction of the magnetic force of the first electromagnet. The controller can also be used to control the operation of the flexible fixing component. It can also be used to collect the patient's blood pressure information and control the display screen, the flexible fixing component and the first electromagnet according to the blood pressure information.

2. The wearable device based on flexible tactile sensation according to claim 1, Features: The flexible fixing component includes an air pump and symmetrically arranged sleeves. Several airbags are provided on the sleeves. The airbags are connected to the air pump and a solenoid valve is provided at the connection point. The outer wall of the airbag on any sleeve is fixedly connected to the inner wall of the fixing ring, and the outer wall of the airbag is fixedly connected to the upper arm fixing component. The other sleeve is detachably connected to the fixing component. The control system controls the operation of the air pump and the solenoid valve according to user demand information.

3. The wearable device based on flexible tactile sensation according to claim 2, Features: The control system includes a controller and several pressure sensors. The pressure sensors are used to collect the patient's blood pressure information. The controller is used to receive user input demand information, control the operation of the first electromagnet according to the demand information and blood pressure information, adjust the position of the magnet bar by changing the magnetic force size and direction of the first electromagnet, and control the operation of the air pump and the solenoid valve according to the demand information. The controller can also be used to control the operation of the air pump, the solenoid valve and the display screen according to the blood pressure information.

4. The wearable device based on flexible tactile sensation according to claim 3, Features: The upper arm rehabilitation assembly includes an upper arm fixing plate, on which a plurality of first fixing strips are fixedly connected, the other ends of the first fixing strips are detachably connected to the upper arm fixing plate, the upper arm fixing plate is hinged to the fixing assembly, and the other end of the upper arm fixing plate is hinged to the forearm fixing plate.

5. The wearable device based on flexible tactile sensation according to claim 4, Features: Any end of the first electromagnet is fixedly connected to the second electromagnet.

6. The wearable device based on flexible tactile sensation according to claim 5, Features: The second electromagnet is fixedly connected to one end of the first electromagnet close to the upper arm fixing plate. The upper arm rehabilitation assembly also includes a magnet ring, which is slidably matched with the outer wall of the fixing plate. Pull ropes are symmetrically arranged on the magnet ring, and the other ends of the pull ropes are fixedly connected to the fixing assembly. The controller can also be used to control the operation of the second electromagnet according to demand information, thereby adjusting the position of the magnet ring.

7. The wearable device based on flexible tactile sensation according to claim 6, Features: The control system also includes a flexible pressure sensor, which is used to collect pressure information applied by the patient's upper arm on the inner wall of the cuff. The controller controls the second electromagnet to work according to the pressure information.

8. The wearable device based on flexible tactile sensation according to claim 7, Features: The control system also includes an angular velocity sensor, which is used to collect angle information of the rotation of the fixed ring. The controller controls the first electromagnet to work according to the angle information.

9. The wearable device based on flexible tactile sensation according to claim 8, Features: The control system also includes a plurality of distance sensors, each of which is used to collect distance information between the fixed ring and the first electromagnet, and the controller controls the operation of the first electromagnet according to the distance information.

10. The wearable device based on flexible tactile sensation according to claim 9, Features: The controller can also control the second electromagnet to work according to the distance information.

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