A method for analyzing hand and limb rehabilitation training data and a rehabilitation training device

Abstract

The present invention discloses a method for analyzing hand and limb rehabilitation training data, comprising: step 1: constructing a first rehabilitation graded assessment standard curve based on the standard for healthy people operating training equipment; step 2: establishing a second rehabilitation graded assessment standard curve that meets the requirements of the trainee based on the patient's current health status; step 3: performing a weighted average calculation on the vertical axis values of the same horizontal axis on the first rehabilitation graded assessment standard curve and the second rehabilitation graded assessment standard curve to obtain a target training curve for the joint; step 4: comparing the actual training curve generated by actual training with the target training curve, calculating the degree of overlap between the two, and determining that the training goal has been achieved when the overlap is greater than a set value; step 5: creating a new target training curve, and repeating step 4. The present invention collects physical data from rehabilitation training in real time and uses the data to comprehensively evaluate the rehabilitation training effect, which is of great significance for both leveraging the role of rehabilitation equipment and improving the rehabilitation training effect.

Description

Technical Field

[0001] The present invention relates to the field of rehabilitation training, and in particular to a hand and limb rehabilitation training data analysis method and rehabilitation training equipment. Background Art

[0002] Functional recovery and strength-building training for wrist rotation, arm rotation, and shoulder joint rotation is a gradual process. To effectively achieve rehabilitation goals, specific training plans are required for individuals of different ages, etiologies, and physical characteristics. Acquiring relevant physical data during rehabilitation training is essential for perceptual interaction and confidence building, as well as for executing training plans and evaluating training outcomes and functional recovery.

[0003] Existing rehabilitation training equipment designs often focus on guiding reciprocating motion to achieve a single action. Furthermore, the focus on qualitative assessment of basic functional recovery through on-site manual evaluation is on rehabilitation training effectiveness. This situation is unable to meet the needs of modern digital rehabilitation medicine and is not conducive to the requirements of refined management during the rehabilitation training phase.

[0004] Therefore, the existing technology lacks a hand and limb rehabilitation training data analysis method that can collect physical data in rehabilitation training in real time, use data to guide scientific training, use data to display on-site conditions, and use data to comprehensively evaluate the effects of rehabilitation training. Summary of the Invention

[0005] In order to solve the above technical problems, the present invention provides a hand and limb rehabilitation training data analysis method and rehabilitation training equipment, which collects physical data in rehabilitation training in real time, uses data to guide scientific training, uses data to display on-site conditions, and uses data to comprehensively evaluate the rehabilitation training effect, which is of great significance to giving full play to the role of rehabilitation equipment and improving the rehabilitation training effect.

[0006] The present invention adopts the following technical solutions:

[0007] Step 1: Construct a rehabilitation assessment standard curve. Use the rotation angle, specific position torque, and rotation speed of the wrist, arm, and shoulder joints that can be achieved by a healthy person (under medical standards) operating the training device to construct the first rehabilitation grading assessment standard curve.

[0008] Step 2: Collect the rotation angle, specific torque, and rotation speed of the wrist, arm, and shoulder joints that can be achieved by the patient operating the training device in his current health state, and establish a second rehabilitation grade assessment standard curve that suits the trainee;

[0009] Step 3: Calculate the weighted average of the vertical axis values on the same horizontal axis on the first rehabilitation graded assessment standard curve and the second rehabilitation graded assessment standard curve for the wrist, arm, and shoulder joints to obtain the target training curve for the joint;

[0010] Step 4: The patient performs rehabilitation training on the wrist, arm, and shoulder joints on the hand and limb rehabilitation training equipment. The actual training curve generated by the actual training is compared with the target training curve, and the degree of overlap between the two is calculated. When the overlap is greater than the set value, it is determined that the training goal has been achieved;

[0011] Step 5: The actual training curve when the training goal is determined to be achieved is used as the new second rehabilitation graded assessment standard curve, and the weighted average calculation is performed on the vertical axis value of the same horizontal axis on the first rehabilitation graded assessment standard curve to obtain a new target training curve for a certain joint. Repeat step 4 until the degree of overlap between the actual training curve and the first rehabilitation graded assessment standard curve is greater than the set value, and it is determined to be restored to health and sent to the attending physician.

[0012] Preferably, the overlap degree is the difference or sum of the similarity and the difference improvement value, and the difference improvement value is 1% of the difference between the actual training curve and the target training curve.

[0013] Preferably, the horizontal axis of the first rehabilitation graded assessment standard curve, the second rehabilitation graded assessment standard curve, the target training curve and the actual training curve represents time, and the vertical axis represents the superposition of torque and rotation angle.

[0014] Preferably, when constructing the target training curve, the weight of the vertical axis value in the second rehabilitation grade evaluation standard curve is greater than the weight of the vertical axis value in the first rehabilitation grade evaluation standard curve.

[0015] A hand limb rehabilitation training device includes a mounting frame and a wrist trainer, a forearm trainer, a shoulder joint trainer, a single-chip microcomputer system, a trainer display screen and a computer system installed on the mounting frame, and each of the wrist trainer, forearm trainer and shoulder joint trainer is provided with one or more torque sensors and one angle sensor.

[0016] Preferably, the wrist trainer includes a first fixing device fixedly connected to the mounting frame, a movable first lifting platform is provided on the first fixing device, a first damping device is installed on the first lifting platform, a first damping adjustment device is provided on the rear side of the first lifting platform, the first damping device includes a first shell, the first shell is provided with a first mounting hole, a rotating rod passes through the first mounting hole, the middle part of the rotating rod is a cam, a damping plate is also installed in the first shell, a number of leaf springs are provided on the damping plate, sliding grooves are provided on both sides of the first shell, a matching sliding part is provided on the damping plate, the sliding part can be embedded in the sliding groove and move in the sliding groove, the first damping adjustment device is a bolt, a first threaded hole is provided on the first lifting platform, the bolt passes through the first threaded hole of the first lifting platform and rests on the damping plate.

[0017] Preferably, the forearm trainer includes a second fixing device fixedly connected to the mounting frame, a movable second lifting platform is provided on the second fixing device, a second damping device is installed on the second lifting platform, a second damping adjustment device is provided on the second lifting platform, the second damping device includes a second shell, the second shell is provided with a second mounting hole, a rotating part is rotatably installed in the second mounting hole, the rotating part includes a rotating handle arranged on the outside, a rotating column arranged on the inside and a baffle arranged on the rotating column, the second damping adjustment device includes an adjusting bolt, an adjusting nut matched with the adjusting bolt and an adjusting spring fixedly connected to the adjusting nut, and the other end of the adjusting spring is connected to the baffle.

[0018] Preferably, the shoulder joint trainer includes a third fixing device fixedly connected to the mounting frame, a movable third lifting platform is provided on the third fixing device, a third damping device is installed on the third lifting platform, a third damping adjustment device is provided on the third damping device, the third damping device includes a third shell, the third shell is provided with a third mounting hole, a rotating block is rotatably installed in the third mounting hole, a rotating block is connected to a rotating ring, a connecting portion is provided on the rotating ring, a mounting groove is provided on the connecting portion, a hand piece can be installed in the mounting groove, a plurality of pairs of limit grooves are also provided in the mounting groove, a limit connecting rod is provided at the bottom of the hand piece, and the mounting of the hand piece The shell is also provided with a limiting hole and a limiting slide groove, and an elastic part and a sliding pin are provided at the corresponding position on the limiting link, the sliding pin slides in the limiting slide groove, and a herringbone groove is provided in the handpiece, and the limiting link includes a first link, and the lower end of the first link is provided with two hinged ends, each hinged to a second link, and the second link is hinged to the third link. When the elastic telescopic part is embedded in the limiting hole located below, the second link and the third link are in a horizontal state, and the third link is embedded in the limiting groove, which is the first state. When the elastic telescopic part is embedded in the limiting hole located above, the second link is in an inclined state, and the handpiece can move in the mounting groove, which is the second state.

[0019] Compared with the prior art, the present invention has the following advantages:

[0020] 1. Real-time collection of physical data during rehabilitation training, using data to guide scientific training, using data to display on-site conditions, and using data to comprehensively evaluate the effects of rehabilitation training are of great significance to the role of rehabilitation equipment and the improvement of rehabilitation training effects.

[0021] 2. The wrist trainer provides damping by squeezing the leaf spring through the cam, so that the trainee can train the wrist joint. The distance between the leaf spring and the cam is adjusted by the bolt to adjust the damping size. The operation is simple.

[0022] 3. The forearm trainer stretches the adjustment spring to provide damping by rotating the rotating part, and resets by adjusting the contraction of the spring. The damping size is adjusted by adjusting the adjusting bolt and adjusting nut. It has a simple structure and is easy to operate.

[0023] 4. The shoulder joint trainer fixes the handpiece through a limit link, and the handpiece can be moved by adjusting the limit link to adjust its distance from the rotation axis to adapt to the length of different people's arms, with strong adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the wrist trainer parameter collection process.

[0025] Figure 2 This is the overall working diagram of the hand and limb rehabilitation training equipment.

[0026] Figure 3 Schematic diagram of the construction of the target training curve.

[0027] Figure 4 This is a schematic diagram of the wrist trainer structure.

[0028] Figure 5 This is the main view of the wrist trainer.

[0029] Figure 6 for Figure 5 AA cross-sectional view.

[0030] Figure 7 It is a structural schematic diagram of the first lifting platform.

[0031] Figure 8 Schematic diagram of the structure of the first shell.

[0032] Figure 9 This is a structural diagram of the forearm trainer.

[0033] Figure 10 This is the front view of the forearm trainer.

[0034] Figure 11 for Figure 10 BB cross-sectional view.

[0035] Figure 12 Schematic diagram of the structure of the second shell.

[0036] Figure 13 Schematic diagram of the assembly of the second damping adjustment device and the second housing.

[0037] Figure 14 Schematic diagram of the structure of the rotating part.

[0038] Figure 15 This is a structural diagram of the shoulder joint trainer.

[0039] Figure 16 This is a schematic diagram of the structure of the shoulder joint trainer without the rotating ring.

[0040] Figure 17 Schematic diagram of the structure of the third shell.

[0041] Figure 18 This is a cross-sectional view of the handpiece when the third connecting rod is embedded in the limiting groove.

[0042] Figure 19 This is a cross-sectional view of the handpiece when the third connecting rod is out of the limiting groove.

[0043] Figure 20 A partial cross-sectional view of the handpiece.

[0044] Figure 21 Schematic diagram of the structure of the rotating ring.

[0045] Figure 22 for Figure 21 A partial enlarged view of part C.

[0046] Figure 23 A top view of the rotating ring.

[0047] Figure 24 for Figure 23 DD cross-sectional view.

[0048] Figure 25 for Figure 24 A magnified view of the E part.

[0049] Figure 26 Schematic diagram of the overall structure of the rehabilitation training equipment.

[0050] Figure 27 This is a schematic diagram of the circuit structure of the rehabilitation training equipment.

[0051] In the figure, the mounting frame 1, the wrist trainer 2, the first fixing device 21, the first lifting platform 22, the first threaded hole 221, the first damping device 23, the first shell 231, the first mounting hole 232, the rotating rod 233, the cam 2331, the damping plate 234, the sliding member 2341, the leaf spring 235, the sliding groove 236, the first damping adjustment device 24, the forearm trainer 3, the second fixing device 31, the second lifting platform 32, the second damping device 33, the second shell 331, the second mounting hole 332, the rotating member 333, the rotating handle 3331, the rotating column 3332, the baffle 3333, the second damping adjustment device 34, Adjusting bolt 341, adjusting nut 342, adjusting spring 343, shoulder joint trainer 4, third fixing device 41, third lifting platform 42, third damping device 43, third shell 431, third mounting hole 432, rotating block 433, rotating ring 434, connecting part 4341, mounting groove 4342, limiting groove 4343, hand piece 435, limiting link 4351, limiting hole 4352, elastic telescopic part 4353, herringbone groove 4354, mounting shell 4355, limiting slide groove 4356, sliding pin 4357, third damping adjustment device 44, single-chip microcomputer system 5, trainer display screen 6, computer system 7. DETAILED DESCRIPTION

[0052] In order to facilitate understanding of the technical solution of the present invention, the following is a detailed description with reference to the accompanying drawings and specific embodiments.

[0053] Example 1

[0054] like Figure 1-3 As shown, a method for analyzing hand limb rehabilitation training data is shown, wherein the horizontal axis of each curve represents time, and the vertical axis represents the superposition of torque and rotation angle; for example, in the training and recovery of the wrist joint, the torque is adjusted to 50N·m, and the rotation limit of the wrist trainer 2 is 90°, then at time 0, the vertical axis value is 50, and as the rotating rod 233 rotates, the curve begins to rise, rising to the vertical axis value of 140, and then the rotating rod 233 is rotated in the opposite direction, the curve begins to fall, and drops to the vertical axis value of 50, wherein the difference in the vertical axis values is the rotation angle, 50N·m is a specific position torque value, and the rotation speed can be obtained by the ratio of the rotation angle to the rotation time.

[0055] The specific steps include:

[0056] Step 1: Construct a rehabilitation assessment standard curve. Use the rotation angle, specific position torque, and rotation speed of the wrist, arm, and shoulder joints that can be achieved by a healthy person (under medical standards) operating the training equipment to construct the first rehabilitation grading assessment standard curve. This curve is the minimum standard that ordinary people can use in their daily lives. The horizontal axis of the curve represents time, and the vertical axis represents the superposition of torque and rotation angle.

[0057] Step 2: Collect the rotation angle, specific position torque, and rotation speed of the wrist, arm, and shoulder joints that can be achieved by operating the training equipment in the patient's current health state, and establish a second rehabilitation grading assessment standard curve that meets the trainee's needs. The curve is a rehabilitation standard specially customized for the trainee, and the value of the curve is lower than the first rehabilitation grading assessment standard curve. The horizontal axis of the curve represents time, and the vertical axis represents the superposition of torque and rotation angle.

[0058] Step 3: Calculate the weighted average of the vertical axis values on the same horizontal axis on the first rehabilitation graded assessment standard curve and the second rehabilitation graded assessment standard curve for the wrist, arm, and shoulder joints to obtain the target training curve for the joint. The horizontal axis of the curve represents time, and the vertical axis represents the superposition of torque and rotation angle.

[0059] When constructing the target training curve, the weight of the vertical axis value in the second rehabilitation graded assessment standard curve is greater than the weight of the vertical axis value in the first rehabilitation graded assessment standard curve, so that the target training curve can be closer to the current physical condition of the trainee and avoid excessive training volume for the patient. In practice, the weight range of the first rehabilitation graded assessment standard curve can be 20%-40%, and the weight range of the second rehabilitation graded assessment standard curve can be 60%-80%;

[0060] For example, on the same horizontal axis, the vertical axis value of the first rehabilitation grading evaluation standard curve is 150 (weighted 30%), and the vertical axis value of the second rehabilitation grading evaluation standard curve is 100 (weighted 70%). Then it can be concluded that the vertical axis value of the target training curve at this moment is 115, and so on, to obtain the entire target training curve.

[0061] Step 4: The patient performs rehabilitation training of the wrist, arm and shoulder joint on the hand limb rehabilitation training equipment, and compares the actual training curve generated by the actual training (the horizontal axis of the curve represents time, and the vertical axis represents the superposition of torque and rotation angle) with the target training curve, and calculates the overlap between the two. When the overlap is greater than the set value, it is determined that the training goal is achieved; wherein, the overlap is the difference or sum of the similarity and the difference improvement value, wherein the similarity can be calculated using a point-based method: EDR, LCSS, DTW or a shape-based method: Frechet, Hausdorff. Since the similarity is a percentage, the difference between the actual training curve and the target training curve is divided by 100 (or a value of 1%) to obtain a difference improvement value close to the similarity, and then the similarity and the difference improvement value are subtracted or summed to obtain the overlap.

[0062] When the vertical axis value of the actual training curve is lower than the vertical axis value of the target training curve, the difference between the actual training curve and the target training curve means that the training target has not been reached, which is a data that reduces the overlap. Therefore, the similarity and the difference improvement value are subtracted to obtain the overlap. When the vertical axis value of the actual training curve is higher than the vertical axis value of the target training curve, the difference between the actual training curve and the target training curve means that the training target has been exceeded, which is a data that improves the overlap. Therefore, the similarity and the difference improvement value are summed to obtain the overlap.

[0063] In this embodiment, when the overlap is greater than 80%, it is determined that the training goal is achieved.

[0064] Step 5: The actual training curve when the training goal is determined to be achieved is used as the new second rehabilitation graded assessment standard curve, and a weighted average calculation is performed on the vertical axis value of the same horizontal axis on the first rehabilitation graded assessment standard curve to obtain a new target training curve for a certain joint. Repeat step 4 until the degree of overlap between the actual training curve and the first rehabilitation graded assessment standard curve is greater than the set value, and it is determined to be restored to health and sent to the attending physician. In this embodiment, the set value is 80%.

[0065] like Figure 4-27 As shown, a hand limb rehabilitation training device includes a mounting frame 1 and a wrist trainer 2, a forearm trainer 3, a shoulder joint trainer 4, a single-chip microcomputer system 5, a trainer display 6 and a computer system 7 mounted on the mounting frame 1, and each of the wrist trainer 2, the forearm trainer 3 and the shoulder joint trainer 4 is provided with one or more torque sensors and one angle sensor. Figure 1 The parameter collection process is illustrated by taking wrist trainer 2 as an example.

[0066] Among them, the mechanical balance relationship model of the three training devices can be expressed as:

[0067]

[0068] Among them, T is the operating input torque, Tz is the resistance torque set by the device, and n is the rotation speed of the shaft on the device. They can all be considered as two-dimensional quantities of angle α and time t. The input torque characteristic and resistance torque characteristic can theoretically be obtained through detection. Figure 1 When the wrist exerciser 2 is operating within its full range, the torque sensor can collect the input torque signal T(t), and the angle sensor can collect the shaft angle signal α(t). When these two signals are collected synchronously on the wrist exerciser 2, they can also be converted into a two-dimensional input torque value T(α, t). The resistance torque on the wrist exerciser 2 is provided by the first damping device 23. After the first damping device 23 is preset, its damping characteristics are also determined.

[0069] The rotating rod 233 of the wrist exerciser 2 can be twisted from an angle of 0° around the axis within an angle range of ±α. The torsional resistance is determined by the elastic coefficient of the leaf spring 235 and the adjustment of the first damping adjustment device 24. Torque sensors are installed on both the left and right sides of the rotating rod 233 to collect rotational torque data. An angle sensor is also installed on the rotating rod 233 to simultaneously collect the torsion angle of the rotating rod 233. Both sets of data are transmitted in real time to the single-chip microcomputer system 5 and further to the computer system 7.

[0070] The wrist trainer 2 includes a first fixing device 21 fixedly connected to the mounting frame 1, a movable first lifting platform 22 is provided on the first fixing device 21, a first damping device 23 is installed on the first lifting platform 22, a first damping adjustment device 24 is provided on the rear side of the first lifting platform 22, the first damping device 23 includes a first shell 231, the first shell 231 is provided with a first mounting hole 232, a rotating rod 233 is passed through the first mounting hole 232, and the middle part of the rotating rod 233 is a cam 2331 A damping plate 234 is also installed in the first shell 231, and a number of leaf springs 235 are provided on the damping plate 234. Sliding grooves 236 are provided on both sides of the first shell 231, and a matching sliding member 2341 is provided on the damping plate 234. The sliding member 2341 can be embedded in the sliding groove 236 and move in the sliding groove 236. The first damping adjustment device 24 is a bolt, and a first threaded hole 221 is provided on the first lifting platform 22. The bolt passes through the first threaded hole 221 of the first lifting platform 22 and rests on the damping plate 234.

[0071] When using the wrist trainer 2, it is only necessary to rotate the rotating rod 233, and the cam 2331 will contact and squeeze the leaf spring 235, thereby generating damping to achieve the purpose of training the wrist; if the damping size needs to be adjusted, it is only necessary to rotate the bolt, for example, rotating the bolt inward will move the damping plate 234 toward the rotating rod 233, and the distance between the cam and the damping plate 234 will be reduced. It takes more force to rotate the cam, and the damping size is increased.

[0072] The rotating member 333 of the forearm exerciser 3 can be twisted within a range of ±α° about its axis starting from an initial angular position (0°). The torsional resistance is determined by the elastic coefficient of the adjustment spring 343 and the adjustment of the second damping adjustment device 34. A torque sensor is mounted on the rotating member 333 to collect rotational torque data. An angle sensor is also mounted on the rotating member 333 to simultaneously collect the torsional angle of the rotating member 333. Both sets of data are transmitted in real time to the single-chip microcomputer system 5 and further to the computer system 7.

[0073] The forearm trainer 3 includes a second fixing device 31 fixedly connected to the mounting frame 1, a movable second lifting platform 32 is provided on the second fixing device 31, a second damping device 33 is installed on the second lifting platform 32, and a second damping adjustment device 34 is provided on the second lifting platform 32, the second damping device 33 includes a second shell 331, the second shell 331 is provided with a second mounting hole 332, a rotating member 333 is rotatably installed in the second mounting hole 332, the rotating member 333 includes a rotating handle 3331 arranged on the outside, a rotating column 3332 arranged on the inside and a baffle 3333 arranged on the rotating column 3332, the second damping adjustment device 34 includes an adjusting bolt 341, an adjusting nut 342 matched with the adjusting bolt 341 and an adjusting spring 343 fixedly connected to the adjusting nut 342, and the other end of the adjusting spring 343 is connected to the baffle 3333.

[0074] When using the forearm trainer 3, one only needs to rotate the rotating handle 3331, and the baffle 3333 set on the rotating column 3332 will rotate together with the rotating handle 3331, thereby pulling the adjustment spring 343 and deforming it to generate damping. After releasing the rotating handle 3331, the adjustment spring 343 automatically resets; if the damping size needs to be adjusted, one only needs to rotate the adjusting bolt 341. Since one end of the adjusting spring 343 is fixedly connected to the baffle 3333 and the other end is fixedly connected to the adjusting nut 342, when the adjusting bolt 341 is rotated, the adjusting nut 342 will move on the adjusting bolt 341, thereby changing the length of the adjusting spring 343 to change the damping size.

[0075] The rotating ring 434 of the shoulder joint trainer 4 can be twisted within a range of ±α° around the axis starting from an initial angular position (0°). The torsional resistance depends on the elastic coefficient of the third damping device 43 and the adjustment of the third damping adjustment device 44. A torque sensor is mounted on the rotating ring 434 to collect rotational torque data; an angle sensor is also mounted on the rotating ring 434 to simultaneously collect the torsional angle of the rotating ring 434. Both sets of data are transmitted in real time to the single-chip microcomputer system 5 and further to the computer system 7. Alternatively, a strain gauge sensor on the rotating ring 434 can also be used to collect torsional data.

[0076] The shoulder joint trainer 4 includes a third fixing device 41 fixedly connected to the mounting frame 1, a movable third lifting platform 42 is provided on the third fixing device 41, a third damping device 43 is installed on the third lifting platform 42, a third damping device 43 is provided on the third damping device 43, and a third damping adjustment device 44 is provided on the third damping device 43. The third damping device 43 includes a third shell 431, the third shell 431 is provided with a third mounting hole 432, a rotating block 433 is rotatably installed in the third mounting hole 432, and the rotating block 433 is connected to the third shell 431. The rotating ring 434 is connected to the rotating ring 434, and a connecting portion 4341 is provided on the connecting portion 4341. A mounting groove 4342 is provided on the mounting groove 4342. A hand piece 435 can be installed in the mounting groove 4342. A plurality of pairs of limiting grooves 4343 are also provided in the mounting groove 4342. A limiting connecting rod 4351 is provided at the bottom of the hand piece 435. A limiting hole 4352 and a limiting sliding groove 4356 are also provided on the mounting shell 4355 of the hand piece 435. An elastic member 43 is provided at the corresponding position on the limiting connecting rod 4351. 53 and a sliding pin 4357, the sliding pin 4357 slides in the limiting sliding groove 4356. When the sliding pin 4357 slides to the top, the elastic member 4353 is compressed and deformed and retracted into the mounting shell 4355 and moves upward. When the sliding pin 4357 slides to the bottom, the elastic member 4353 is embedded in the limiting groove 4352 for limiting, preventing the limiting link 4351 from being separated from the limiting groove 4343. A herringbone groove 4354 is provided in the handpiece 435. The limiting link 4351 includes a first link The lower end of the first connecting rod is provided with two hinged ends, each of which is hinged to a second connecting rod. The second connecting rod is hinged to the third connecting rod. When the elastic telescopic member 4353 is embedded in the limiting hole 4352 located below, the second connecting rod and the third connecting rod are in a horizontal state, and the third connecting rod is embedded in the limiting groove 4343. This is the first state. When the elastic telescopic member 4353 is embedded in the limiting hole 4352 located above, the second connecting rod is in an inclined state, and the handpiece 435 can move in the mounting groove 4342. This is the second state.

[0077] When the shoulder joint trainer 4 is in use, rehabilitation training of the shoulder joint can be achieved by rotating the rotating ring 434; if the trainee has an inconvenience in holding the handpiece 435 because his arm is too long or too short, the distance between the handpiece 435 and the rotating axis can be adjusted, that is, the elastic telescopic part 4353 is pressed to lift the handpiece 435, and the elastic telescopic part 4353 is embedded in the limiting hole 4352 located above. At this time, the first connecting rod is vertical, the second connecting rod is inclined, and the third connecting rod is horizontal and does not extend into the limiting groove 4343. It can be moved in the installation groove 4342. After moving to the appropriate position, the elastic telescopic part 4353 is pressed down and the handpiece 435 is pressed downward, so that the elastic telescopic part 4353 is embedded in the limiting hole 4352 located below, thereby adjusting the distance between the handpiece 435 and the rotating axis. At this time, the first connecting rod is vertical, the second connecting rod is horizontal, and the third connecting rod is horizontal and extends into the limiting groove 4343.

[0078] The above are only preferred embodiments of the present invention. The scope of protection of the present invention shall be based on the scope defined by the claims. Several improvements and modifications made by those skilled in the art without departing from the spirit and scope of the present invention should also be regarded as the scope of protection of the present invention.

Claims

1. A method for analyzing hand and limb rehabilitation training data, characterized in that: include: Step 1: Construct a rehabilitation assessment standard curve. Use the rotation angle, specific position torque, and rotation speed of the wrist, arm, and shoulder joints that can be achieved by a healthy person (under medical standards) operating the training equipment to construct the first rehabilitation grading assessment standard curve. Step 2: Collect the rotation angle, specific torque, and rotation speed of the wrist, arm, and shoulder joints that can be achieved by the patient operating the training device in his or her current health state, and establish a second rehabilitation grade assessment standard curve that meets the patient's needs; Step 3: Calculate the weighted average of the vertical axis values on the same horizontal axis on the first rehabilitation graded assessment standard curve and the second rehabilitation graded assessment standard curve for the wrist, arm, and shoulder joints to obtain the target training curve for the joint; Step 4: The patient performs rehabilitation training on the wrist, arm, and shoulder joints on the hand and limb rehabilitation training equipment. The actual training curve generated by the actual training is compared with the target training curve, and the degree of overlap between the two is calculated. When the overlap is greater than the set value, it is determined that the training goal has been achieved; Step 5: The actual training curve when the training goal is determined to be achieved is used as the new second rehabilitation graded assessment standard curve, and the weighted average calculation is performed on the vertical axis value of the same horizontal axis on the first rehabilitation graded assessment standard curve to obtain a new target training curve for a certain joint. Repeat step 4 until the degree of overlap between the actual training curve and the first rehabilitation graded assessment standard curve is greater than the set value, and it is determined to be restored to health and sent to the attending physician.

2. A hand limb rehabilitation training data analysis method according to claim 1, characterized in that: The overlap is the difference or sum of the similarity and the difference improvement value, and the difference improvement value is 1% of the difference between the actual training curve and the target training curve.

3. The hand and limb rehabilitation training data analysis method according to claim 1, characterized in that: The horizontal axis of the first rehabilitation graded assessment standard curve, the second rehabilitation graded assessment standard curve, the target training curve and the actual training curve represents time, and the vertical axis represents the superposition of torque and rotation angle.

4. The hand and limb rehabilitation training data analysis method according to claim 1, characterized in that: When constructing the target training curve, the weight of the vertical axis value in the second rehabilitation grade evaluation standard curve is greater than the weight of the vertical axis value in the first rehabilitation grade evaluation standard curve.

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