A training device for upper limb rehabilitation and a method of using the same

Abstract

The present invention provides a training device for upper limb rehabilitation, comprising a workbench, wherein the workbench is provided with a cylinder, wherein the cylinder comprises a cylinder body arranged on the workbench, a piston is arranged in the cylinder body, the piston is hinged with a piston rod, the other end of the piston rod is hinged with a first push rod through a first axle pin, the other end of the first push rod is connected with a first handle, a second axle pin is arranged on the first push rod, the second axle pin is hinged with a first hinge seat arranged on the workbench, the cylinder body is connected with a pneumatic glove through a hose, and the pneumatic glove is pumped / inflated by the handle to complete the finger flexion and extension movement; the training device for upper limb rehabilitation provided by the present invention has reasonable structure, simple operation, good rehabilitation effect, and wide application range, and can meet the use of patients at different rehabilitation stages.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and in particular relates to a training device for upper limb rehabilitation and a method of using the same. Background Art

[0002] Stroke is also known as "stroke" or "cerebrovascular accident". It is an acute cerebrovascular disease, a group of diseases that cause brain tissue damage due to sudden rupture of brain blood vessels or blood vessel blockage that prevents blood from flowing into the brain. Most patients are over 40 years old, more males than females, and severe cases can cause death. The mortality rate of hemorrhagic stroke is high. Surveys show that stroke has become the leading cause of death in my country in both urban and rural areas, and the leading cause of disability among Chinese adults. Stroke is characterized by high morbidity, high mortality and high disability rate.

[0003] The hand dysfunction of stroke patients often manifests as flexion contracture, dominant flexor muscle tension, difficulty in stretching the interphalangeal joints and metacarpophalangeal joints, loss of grip, palm opposition and a series of fine motor functions, causing great inconvenience to the patients' lives. The principle of stroke rehabilitation is the sooner the better, and early rehabilitation treatment is an important measure to alleviate or reduce the patient's disability, impairment and handicap.

[0004] Existing training devices for upper limb rehabilitation have a single training mode and cannot provide targeted training for patients at different training stages; therefore, when conducting rehabilitation training for patients in clinical practice, each small joint of the hand is usually manually moved, which causes a large workload for rehabilitation personnel and is time-consuming and labor-intensive. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a training device for upper limb rehabilitation which has a reasonable structure, is simple to operate, has good rehabilitation effect, and has a wide range of applications and can meet the needs of patients at different rehabilitation stages.

[0006] In order to achieve the above-mentioned purpose, the technical solution of the present invention is as follows: a training device for upper limb rehabilitation, comprising a workbench, a cylinder is provided on the workbench, the cylinder comprises a cylinder body arranged on the workbench, a piston is provided in the cylinder body, the piston is connected to a piston rod, the piston rod is connected to a driving mechanism, the cylinder body is connected to a pneumatic glove through a hose, the pneumatic glove is driven by the driving mechanism through the piston rod to pump air / inflate the cylinder to complete the finger flexion and extension movement.

[0007] More specifically, the driving mechanism includes a first push rod, one end of which is connected to a first handle, the other end of which is hinged to a piston rod through a first axle pin, a second axle pin is provided on the first push rod, the second axle pin is hinged to a first hinge seat provided on the workbench, and the piston rod is hinged to the piston.

[0008] More specifically, the driving mechanism includes a first push rod, one end of which is connected to a first handle, the first push rod is provided with a second axle pin, the second axle pin is hinged to a first hinge seat provided on a workbench, the second axle pin is provided with a gear, and the piston rod is connected to a rack meshing with the gear.

[0009] More specifically, the pneumatic glove includes a glove body, on which a diverter is provided. The air inlet of the diverter is connected to a hose, and the air outlet of the diverter is respectively connected to five diverter tubes corresponding to the fingers, and each of the diverter tubes is provided with an airbag at the corresponding finger joint.

[0010] More specifically, a fixing plate is provided at the position of the glove body corresponding to the center of the palm, and a ring is provided on the fixing plate, and the inner diameter of the ring is adapted to the first handle.

[0011] More specifically, a controller and a first motor are provided on the workbench, an output end of the first motor is connected to the second shaft pin, and the controller is electrically connected to the first motor.

[0012] More specifically, an angle sensor is connected to the second axle pin, a training auxiliary machine is provided on the workbench, the training auxiliary machine includes a second articulated seat provided on the workbench, the second articulated seat is provided with a servo motor, the output end of the servo motor is connected to a third axle pin, the third axle pin is hinged to the second articulated seat, the third axle pin is installed on the second push rod, the second push rod is connected to a second handle, the angle sensor and the servo motor are both electrically connected to the controller, and a display screen is provided on the controller.

[0013] More specifically, the controller is electrically connected to an electromyographic signal sensor and an electric stimulation head, and the electromyographic signal sensor and the electric stimulation head are both arranged on the muscle groups to be trained on the affected hand.

[0014] More specifically, a partition is provided on the workbench, and the partition is provided between the cylinder body and the training auxiliary machine.

[0015] A method for using a training device for upper limb rehabilitation comprises the following steps:

[0016] Put on the pneumatic glove on the affected hand and place the healthy hand on the first grip;

[0017] When the fingers of the healthy hand are straightened and the palm pushes the first hand forward, the cylinder pumps air into the airbag, and the pneumatic glove drives the fingers of the affected hand to straighten;

[0018] When the fingers of the healthy hand are bent and the palm grasps the first hand grip and pulls back, the air cylinder inflates the airbag, and the pneumatic glove drives the fingers of the affected hand to bend;

[0019] or,

[0020] When the fingers of the healthy hand are straightened and the palm pushes the first hand forward, the cylinder inflates the airbag, and the pneumatic glove drives the fingers of the affected hand to bend;

[0021] When the fingers of the healthy hand are bent and the palm grasps the first grip and pulls back, the air cylinder inflates the airbag, and the pneumatic glove drives the fingers of the affected hand to straighten.

[0022] A method for using a training device for upper limb rehabilitation comprises the following steps:

[0023] Put on the pneumatic glove on the affected hand, and put the pneumatic glove on the first hand through the ring;

[0024] When the hand on the affected side pushes the first handle forward, the air cylinder pumps air into the airbag, and the pneumatic glove drives the fingers of the hand on the affected side to straighten;

[0025] When the affected hand pulls the first handle backward, the air cylinder inflates the airbag, and the pneumatic glove drives the fingers of the affected hand to bend;

[0026] or,

[0027] When the affected hand pushes the first handle forward, the air cylinder inflates the airbag, and the pneumatic glove drives the fingers of the affected hand to bend;

[0028] When the hand on the affected side pulls the first handle backward, the air cylinder inflates the air bag, and the pneumatic glove drives the fingers of the hand on the affected side to straighten.

[0029] A method for using a training device for upper limb rehabilitation comprises the following steps:

[0030] Put on the pneumatic glove on the affected hand, put the healthy hand on the first handle, and put the pneumatic glove on the second handle through the ring;

[0031] When the healthy hand pushes the first handle forward, the cylinder pumps air into the airbag, and the pneumatic glove drives the fingers of the affected hand to straighten. The angle sensor collects the angle information α of the first push rod rotating around the second axis pin, and transmits the angle information α to the controller. The controller sends a control instruction to the servo motor, and the servo motor drives the second push rod to rotate around the third axis pin in the same direction by an angle α.

[0032] When the healthy hand pulls the first handle backward, the cylinder inflates the airbag, the pneumatic glove drives the fingers of the affected hand to bend, the angle sensor collects the angle information β of the first push rod rotating around the second axis pin, and transmits the angle information β to the controller, the controller sends a control instruction to the servo motor, and the servo motor drives the second push rod to rotate around the third axis pin in the same direction by an angle β;

[0033] or,

[0034] When the healthy hand pushes the first handle forward, the cylinder inflates the airbag, and the pneumatic glove drives the fingers of the affected hand to bend. The angle sensor collects the angle information α of the first push rod rotating around the second axis pin, and transmits the angle information α to the controller. The controller sends a control instruction to the servo motor, and the servo motor drives the second push rod to rotate around the third axis pin in the opposite direction by an angle α.

[0035] When the healthy hand pulls the first handle backwards, the cylinder pumps air into the airbag, and the pneumatic glove drives the fingers of the affected hand to straighten. The angle sensor collects the angle information β of the first push rod rotating around the second axis pin, and transmits the angle information β to the controller. The controller sends a control instruction to the servo motor, and the servo motor drives the second push rod to rotate in the opposite direction around the third axis pin by an angle β.

[0036] or

[0037] When the healthy hand pushes the first handle forward, the cylinder pumps air into the airbag, and the pneumatic glove drives the fingers of the affected hand to straighten. The angle sensor collects the angle information α of the first push rod rotating around the second axis pin, and transmits the angle information α to the controller. The controller sends a control instruction to the servo motor, and the servo motor drives the second push rod to rotate in the opposite direction around the third axis pin at an angle α.

[0038] When the healthy hand pulls the first handle backward, the cylinder inflates the airbag, and the pneumatic glove drives the fingers of the affected hand to bend. The angle sensor collects the angle information β of the first push rod rotating around the second axis pin, and transmits the angle information β to the controller. The controller sends a control instruction to the servo motor, and the servo motor drives the second push rod to rotate in the opposite direction around the third axis pin by an angle β.

[0039] or

[0040] When the healthy hand pushes the first handle forward, the cylinder inflates the airbag, and the pneumatic glove drives the fingers of the affected hand to bend. The angle sensor collects the angle information α of the first push rod rotating around the second axis pin, and transmits the angle information α to the controller. The controller sends a control instruction to the servo motor, and the servo motor drives the second push rod to rotate around the third axis pin in the same direction at an angle α.

[0041] When the healthy hand pulls the first handle backwards, the cylinder pumps air into the airbag, and the pneumatic glove drives the fingers of the affected hand to straighten. The angle sensor collects the angle information β of the first push rod rotating around the second axis pin, and transmits the angle information β to the controller. The controller sends a control instruction to the servo motor, and the servo motor drives the second push rod to rotate around the third axis pin in the same direction by an angle β.

[0042] The beneficial effect of the present invention is that the patient drives the piston rod to move through the driving mechanism, and the piston rod drives the piston to reciprocate along the cylinder body, so that the cylinder can inflate / deflat the pneumatic gloves to complete the finger flexion and extension movement. The structure is reasonable and the operation is simple, and the patient can perform rehabilitation training alone; when in use, the patient can choose to drive the fingers of the affected hand to flex and extend the fingers by the healthy hand, or can choose to drive the fingers of the affected hand to flex and extend the fingers. It has a wide range of applications and good rehabilitation effects, can meet the needs of patients at different rehabilitation stages, can save therapists' time for long-term hand training, and save medical resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a structural schematic diagram of one embodiment of the present invention;

[0044] Figure 2 for Figure 1 The structural schematic diagram of the cylinder body shown;

[0045] Figure 3 for Figure 2 The structural schematic diagram of the piston rod shown;

[0046] Figure 4 for Figure 1 The schematic diagram of the structure of the pneumatic glove shown;

[0047] Figure 5 for Figure 4 The schematic diagram of the structure of the glove body shown;

[0048] Figure 6 for Figure 5 A schematic diagram of the structure of the collar shown;

[0049] Figure 7 is a schematic diagram of the structure of the partition;

[0050] Figure 8 for Figure 7 The structural diagram of the training auxiliary machine shown in FIG.

[0051] Fig. 9 for Figure 8 A schematic structural diagram of a second push rod shown;

[0052] Fig.10 is a schematic diagram of the structure of the rack;

[0053] Fig.11 is a schematic structural diagram of a first switch.

[0054] In the figure, 1. workbench; 11. first articulated seat; 13. partition; 2. cylinder body; 21. piston; 22. piston rod; 23. first axle pin; 24. first push rod; 241. first switch; 242. second switch; 25. first handle; 26. second axle pin; 27. gear; 28. rack; 3. hose; 4. pneumatic glove; 41. glove body; 42. diverter; 43. diverter tube; 44. airbag; 45. fixing plate; 46. collar; 5. first motor; 6. angle sensor; 7. training auxiliary machine; 71. second articulated seat; 72. servo motor; 73. third axle pin; 74. second push rod; 75. second handle; 8. controller. DETAILED DESCRIPTION

[0055] The technical solution of the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments:

[0056] Embodiment 1

[0057] Please also read Figure 1-6 The training device for upper limb rehabilitation provided in this embodiment includes a workbench 1, on which a cylinder is provided, and the cylinder includes a cylinder body 2 provided on the workbench 1, in which a piston 21 is provided, and the piston 21 is connected to a piston rod 22, and the piston rod 22 is connected to a driving mechanism, and the cylinder body 2 is connected to a pneumatic glove 4 through a hose 3, and the pneumatic glove 4 is driven by the driving mechanism through the piston rod 22 to pump air / inflate the cylinder to complete the finger flexion and extension movement.

[0058] The patient drives the piston rod 22 to move through the driving mechanism, and the piston rod 22 drives the piston 21 to reciprocate along the cylinder body 2, so that the cylinder can inflate / evacuate the pneumatic glove 4 to complete the finger flexion and extension movement. The structure is reasonable and the operation is simple. The patient can perform rehabilitation training alone. When using it, the patient can choose to drive the fingers of the affected hand to flex and extend the fingers by the healthy hand, or can choose to drive the fingers of the affected hand to flex and extend the fingers. It has a wide range of applications and good rehabilitation effects. It can meet the needs of patients at different rehabilitation stages, save the therapist's time for long-term hand training, and save medical resources.

[0059] More specifically, the driving mechanism includes a first push rod 24, one end of which is connected to a first handle 25, the other end of the first push rod 24 is hinged to the piston rod 22 through a first axle pin 23, a second axle pin 26 is provided on the first push rod 24, the second axle pin 26 is hinged to a first hinge seat 11 provided on the workbench 1, and the piston rod 22 is hinged to the piston 21; the distance between the second axle pin 26 and the first axle pin 23 is smaller than the distance between the second axle pin 26 and the first handle 25; through the principle of lever, the first push rod 24 uses the second axle pin 26 as a fulcrum, the distance between the second axle pin 26 and the first axle pin 23 is a resistance arm, and the distance between the second axle pin 26 and the first handle 25 is a power arm, and the patient drives the piston 21 to reciprocate along the cylinder body 2 by pushing / pulling the first handle 25, which can save the patient's physical strength.

[0060] More specifically, the pneumatic glove 4 includes a glove body 41, on which a diverter 42 is provided, the air inlet of the diverter 42 is connected to the hose 3, and the air outlet of the diverter 42 is respectively connected to five diverter tubes 43 corresponding to the fingers, and each of the diverter tubes 43 is provided with an air bag 44 corresponding to the finger joint; the glove body 41 is comfortable to wear, and the air bag 44 is used to pump air / inflate the patient's fingers to perform passive training such as grasping, holding, and stretching. The glove body 41 has a reasonable structure and high safety, can effectively inhibit finger spasms, restore finger flexibility, and can not only improve the patient's rehabilitation effect and quality of life.

[0061] More specifically, a fixing plate 45 is provided at the center of the palm of the glove body 41, and a ring 46 is provided on the fixing plate 45, and the inner diameter of the ring 46 is adapted to the first handle 25; since the fingers of the affected hand have weak gripping ability, the ring 46 connects the glove body 41 with the first handle 25, which does not affect the rotation of the wrist and prevents the affected hand from falling off the first handle 25.

[0062] The first handle 25 is hinged to the first push rod 24. The first push rod 24 is provided with a storage groove for accommodating the first handle 25. When not in use, the first handle 25 is stored in the storage groove, which can avoid damage to the first handle on the one hand and save space on the other.

[0063] More specifically, the workbench 1 is provided with a controller 8 and a first motor 5, the output end of the first motor 5 is connected to the second shaft pin 26, the controller 8 is electrically connected to the first motor 5, and the controller 8 is provided with a display screen; the display screen can display various values ​​and training movements, and for some patients with insufficient arm strength, corresponding settings can be made through the controller 8, and the first motor 5 can provide assistance for pushing / pulling the first handle 25 to help the patient complete rehabilitation training.

[0064] The training device for upper limb rehabilitation provided in this embodiment can place the workbench 1 horizontally. When in use, the user pushes the first handle 25 forward and backward to achieve flexion and extension of the fingers of the affected hand; the workbench 1 can also be placed vertically. When in use, the user pushes the first handle 25 up and down to achieve flexion and extension of the fingers of the affected hand.

[0065] As a variation of this embodiment, the piston 21 can also adopt a one-way sealed piston, which is similar to the principle of an air pump. The first handle 25 can be pushed multiple times to inflate the airbag 44, so that the fingers of the affected hand are bent. An exhaust valve is set on the diverter 42, and the exhaust valve is opened to deflate, so that the fingers of the affected hand are straightened. The patient can choose different training modes according to his or her own rehabilitation training needs.

[0066] Embodiment 2

[0067] The technical solution provided in this embodiment is basically the same as that in the first embodiment, except that: Fig.10 The driving mechanism includes a first push rod 24, one end of which is connected to a first handle 25, a second shaft pin 26 is provided on the first push rod 24, the second shaft pin 26 is hinged to a first hinge seat 11 provided on the workbench 1, a gear 27 is provided on the second shaft pin 26, the piston rod 22 is connected to a rack 28 meshing with the gear 27, and the rack 28 is slidably connected to the workbench 1 through a slide groove. When in use, the patient pushes / pull the first handle 25 to rotate the gear 27, the gear 27 drives the piston rod 22 to move through the rack 28, and the piston rod 22 drives the piston 21 to reciprocate along the cylinder body 2, thereby realizing the pneumatic glove 4 to evacuate / inflate to complete the finger flexion and extension action; the driving mechanism can also be a cam set on the second shaft pin 26, the patient drives the cam to rotate through the first push rod 24, and the cam drives the piston rod 22 to move, thereby realizing the evacuation / inflation of the cylinder.

[0068] As a variation of this embodiment, see Fig.11 The driving mechanism includes a first push rod 24, which is mounted on a rack 28. A first hinge seat 11 is provided on the workbench 1, and a second shaft pin 26 is hinged on the first hinge seat 11. The two ends of the second shaft pin 26 are respectively connected to a gear 27 and a second motor. The piston rod 22 is connected to a rack 28 meshing with the gear 27. The rack 28 is slidably connected to the workbench 1 through a slide groove. A first switch 241 and a second switch 242 are symmetrically provided on the first push rod 24. The first switch 241 and the second switch 242 respectively control the forward or reverse rotation of the second motor. When in use, the first push rod 24 is pushed forward with the palm of the hand opened by the fingers, and the palm presses the first switch 241; or the first push rod 24 is held backward with the palm of the hand with the fingers bent, and the second switch 242 is pressed by the fingers, thereby controlling the forward or reverse rotation of the second motor to realize the air extraction / inflation of the cylinder.

[0069] Embodiment 3

[0070] Please also read Figure 7-9 The technical solution provided in this embodiment is basically the same as that provided in the first embodiment, except that: an angle sensor 6 is connected to the second axle pin 26, a training auxiliary machine 7 is provided on the workbench 1, the training auxiliary machine 7 comprises a second hinge seat 71 provided on the workbench 1, the second hinge seat 71 is provided with a servo motor 72, the output end of the servo motor 72 is connected to a third axle pin 73, the third axle pin 73 is hinged to the second hinge seat 71, the third axle pin 73 is installed on a second push rod 74, the second push rod 74 is connected to a second handle 75, the angle sensor 6 and the servo motor 72 are both electrically connected to the controller 8.

[0071] The healthy hand pushes / pull the first push rod 24, the angle sensor 6 collects the angle information of the first push rod 24 rotating around the second axis pin 26, and transmits the angle information to the controller 8. The controller 8 sends a control instruction to the servo motor 72, controls the servo motor 72 to rotate the same angle, so that the second push rod 74 rotates the same angle around the third axis pin 73. The second handle 75 drives the affected upper limb to make the same movement as the healthy limb through the pneumatic glove 4, thereby realizing the joint movement of the upper limbs and fingers, which can effectively improve the rehabilitation efficiency of the patient's upper limbs and fingers.

[0072] More specifically, a partition 13 is provided on the workbench 1, and the partition 13 is provided between the cylinder body 2 and the training auxiliary machine 7, so that the patient can focus on the movement of the affected hand to improve the training effect.

[0073] More specifically, the controller 8 is electrically connected to an electromyographic signal sensor and an electric stimulation head, and the electromyographic signal sensor and the electric stimulation head are both arranged on the muscle groups to be trained on the affected hand; when the healthy hand pushes / pull the first push rod 24 with force, the pneumatic glove 4 drives the affected fingers to flex and extend, and when the electromyographic signal sensor detects a signal, the display screen displays the intensity of the electromyographic signal; when the electromyographic signal sensor does not detect a signal, the controller 8 controls the electric stimulation head to electrically stimulate the muscle groups to be trained.

[0074] In this embodiment, the cylinder can also be replaced by a traction rope, the two ends of which are respectively connected to the first push rod 24 and the five fingers of the glove body 41. The healthy hand pushes / pull the first handle 25, so that the first push rod 24 rotates to reel / unreel the traction rope, thereby achieving flexion and extension of the fingers of the affected hand.

[0075] A method for using a training device for upper limb rehabilitation, which uses the arm strength of a healthy hand to drive the linkage training of the fingers of an affected hand to flex and extend, comprises the following steps:

[0076] The affected hand wears the pneumatic glove 4, and the healthy hand is placed on the first handle 25;

[0077] Finger joint reaction training: when the fingers of the healthy hand are straightened and the palm pushes forward the first push 25 rod, the cylinder pumps air into the airbag 44, and the pneumatic glove 4 drives the fingers of the affected hand to straighten;

[0078] When the fingers of the healthy hand are bent and the palm grasps the first handle 25 and pulls back, the air cylinder inflates the airbag 44, and the pneumatic glove 4 drives the fingers of the affected hand to bend;

[0079] The combined reaction refers to when a certain part of the body performs resistance exercise or actively exerts force, it induces an involuntary increase in muscle tension or a movement reaction in the affected side muscle group. The healthy hand pushes the first handle 25, and the fingers of the affected hand are passively driven by the strength of the healthy arm to flex and extend, and the fingers of the healthy hand and the affected hand are kept in the same movement. The combined reaction can promote the nerve recovery of the fingers of the affected hand and greatly improve the rehabilitation effect.

[0080] or,

[0081] Finger joint separation reaction training: when the fingers of the healthy hand are straightened and the palm pushes the first handle 25 forward, the air cylinder inflates the airbag 44, and the pneumatic glove 4 drives the fingers of the affected hand to bend;

[0082] When the fingers of the healthy hand are bent and the palm grasps the first handle 25 and pulls it backward, the air cylinder evacuates the airbag 44, and the pneumatic glove 4 drives the fingers of the affected hand to straighten.

[0083] Through finger joint separation reaction training, the joint reaction is broken, thereby achieving free control of the fingers of the affected hand.

[0084] A method for using a training device for upper limb rehabilitation, which drives the linkage training of flexion and extension of fingers of the affected hand by the arm strength of the affected hand, comprises the following steps:

[0085] The affected hand wears the pneumatic glove 4, which is sleeved on the first handle 25 through the ring 46;

[0086] Ill-hand joint movement reaction training: When the ill-hand pushes the first handle 25 forward, the air cylinder pumps air into the airbag 44, and the pneumatic glove 4 drives the fingers of the ill-hand to straighten;

[0087] When the affected hand pulls the first handle 25 backward, the air cylinder inflates the airbag 44, and the pneumatic glove 4 drives the fingers of the affected hand to bend;

[0088] The affected hand pushes the first handle 25, and the muscles of the affected hand contract together, inducing flexion and extension of the affected fingers, which can not only perform rehabilitation training on the arm of the affected hand, but also perform rehabilitation training on the fingers of the affected hand while training the arm of the affected hand. The nerve recovery of the arm and fingers of the affected hand can be promoted through joint movement, and the rehabilitation effect can be greatly improved.

[0089] or,

[0090] Ill-hand joint movement separation reaction training: When the ill-hand pushes the first handle 25 forward, the air cylinder inflates the airbag 44, and the pneumatic glove 4 drives the fingers of the ill-hand to bend;

[0091] When the hand on the affected side pulls the first handle 25 backward, the air cylinder evacuates the air bag 44, and the pneumatic glove 4 drives the fingers of the hand on the affected side to straighten.

[0092] Through the joint movement separation reaction training of the affected hand, the joint reaction of the affected arm and fingers is broken, thereby achieving free control of the affected arm and fingers.

[0093] A method for using a training device for upper limb rehabilitation, which uses the arm strength of a healthy hand to drive the upper limb and fingers of an affected hand to flex and extend simultaneously, comprising the following steps:

[0094] The affected hand wears the pneumatic glove 4, the healthy hand is placed on the first handle 25, and the pneumatic glove 4 is sleeved on the second handle 75 through the ring 46; the healthy hand pushes the first push rod 24 forward, and the angle sensor 6 collects the angle information of the first push rod 24 rotating around the second shaft pin 26 as α; the healthy hand pulls the first push rod 24 backward, and the angle sensor 6 collects the angle information of the first push rod 24 rotating around the second shaft pin 26 as β;

[0095] Upper limb joint reaction training: when the healthy hand pushes the first handle 25 forward, the air cylinder evacuates the airbag 44, the pneumatic glove 4 drives the fingers of the affected hand to straighten, the angle sensor 6 collects the angle information α of the first push rod 24 rotating around the second shaft pin 26, and transmits the angle information α to the controller 8, the controller 8 sends a control instruction to the servo motor 72, and the servo motor 72 drives the second push rod 74 to rotate around the third shaft pin 73 in the same direction by an angle α;

[0096] When the healthy hand pulls the first handle 25 backward, the cylinder inflates the airbag 44, and the pneumatic glove 4 drives the fingers of the affected hand to bend. The angle sensor 6 collects the angle information β of the first push rod 24 rotating around the second shaft pin 26, and transmits the angle information β to the controller 8. The controller 8 sends a control instruction to the servo motor 72, and the servo motor 72 drives the second push rod 74 to rotate around the third shaft pin 73 in the same direction by an angle β.

[0097] The angle sensor 6 collects the angle information of the rotation of the first handle 25 and transmits the angle information to the controller 8. The controller 8 sends a control instruction to the servo motor 72 to control the servo motor 72 to rotate the same angle, thereby realizing the joint movement of the arms and fingers of the healthy hand and the affected hand, and promoting the nerve recovery of the arm and fingers of the affected hand through the joint reaction, which can effectively improve the patient's upper limb and finger rehabilitation efficiency.

[0098] or,

[0099] Upper limb joint separation reaction training: when the healthy hand pushes the first handle 25 forward, the air cylinder inflates the airbag 44, the pneumatic glove 4 drives the fingers of the affected hand to bend, the angle sensor 6 collects the angle information α of the first push rod 24 rotating around the second shaft pin 26, and transmits the angle information α to the controller 8, the controller 8 sends a control instruction to the servo motor 72, and the servo motor 72 drives the second push rod 74 to rotate around the third shaft pin 73 in the opposite direction by an angle α;

[0100] When the healthy hand pulls the first handle 25 backward, the cylinder evacuates the airbag 44, and the pneumatic glove 4 drives the fingers of the affected hand to straighten. The angle sensor 6 collects the angle information β of the first push rod 24 rotating around the second axis pin 26, and transmits the angle information β to the controller 8. The controller 8 sends a control instruction to the servo motor 72, and the servo motor 72 drives the second push rod 74 to rotate in the opposite direction around the third axis pin 73 by an angle β.

[0101] or

[0102] When the healthy hand pushes the first handle 25 forward, the cylinder evacuates the airbag 44, and the pneumatic glove 4 drives the fingers of the affected hand to straighten. The angle sensor 6 collects the angle information α of the first push rod 24 rotating around the second axis pin 26, and transmits the angle information α to the controller 8. The controller 8 sends a control instruction to the servo motor 72, and the servo motor 72 drives the second push rod 74 to rotate in the opposite direction around the third axis pin 73 by an angle α.

[0103] When the healthy hand pulls the first handle 25 backward, the cylinder inflates the airbag 44, and the pneumatic glove 4 drives the fingers of the affected hand to bend. The angle sensor 6 collects the angle information β of the first push rod 24 rotating around the second axis pin 26, and transmits the angle information β to the controller 8. The controller 8 sends a control instruction to the servo motor 72, and the servo motor 72 drives the second push rod 74 to rotate in the opposite direction around the third axis pin 73 by an angle β.

[0104] or

[0105] When the healthy hand pushes the first handle 25 forward, the cylinder inflates the airbag 44, and the pneumatic glove 4 drives the fingers of the affected hand to bend. The angle sensor 6 collects the angle information α of the first push rod 24 rotating around the second axis pin 26, and transmits the angle information α to the controller 8. The controller 8 sends a control instruction to the servo motor 72, and the servo motor 72 drives the second push rod 74 to rotate in the same direction around the third axis pin 73 at an angle α.

[0106] When the healthy hand pulls the first handle 25 backwards, the cylinder evacuates the airbag 44, and the pneumatic glove 4 drives the fingers of the affected hand to straighten. The angle sensor 6 collects the angle information β of the first push rod 24 rotating around the second axis pin 26, and transmits the angle information β to the controller 8. The controller 8 sends a control instruction to the servo motor 72, and the servo motor 72 drives the second push rod 74 to rotate in the same direction around the third axis pin 73 by an angle β.

[0107] Through upper limb joint separation reaction training, the joint reaction of the arm and fingers of the healthy hand and the affected hand is broken, thereby achieving free control of the arm and fingers of the affected hand.

[0108] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A training device for upper limb rehabilitation, characterized in that: The invention comprises a workbench (1), wherein the workbench (1) is provided with a cylinder, wherein the cylinder comprises a cylinder body (2) provided on the workbench (1), wherein a piston (21) is provided in the cylinder body (2), wherein the piston (21) is connected to a piston rod (22), wherein the piston rod (22) is connected to a driving mechanism, wherein the cylinder body (2) is connected to a pneumatic glove (4) via a hose (3), wherein the pneumatic glove (4) is driven by the driving mechanism via the piston rod (22) to pump air into / inflate the cylinder, thereby completing a finger flexion and extension movement; The driving mechanism comprises a first push rod (24), one end of the first push rod (24) is connected to a first handle (25), the first push rod (24) is provided with a second shaft pin (26), and the second shaft pin (26) is hinged to a first hinge seat (11) provided on the workbench (1); The workbench (1) is provided with a controller (8); The second shaft pin (26) is connected to an angle sensor (6); the workbench (1) is provided with a training auxiliary machine (7); the training auxiliary machine (7) comprises a second hinge seat (71) provided on the workbench (1); the second hinge seat (71) is provided with a servo motor (72); the output end of the servo motor (72) is connected to a third shaft pin (73); the third shaft pin (73) is hinged to the second hinge seat (71); the third shaft pin (73) is mounted on a second push rod (74); the second push rod (74) is connected to a second handle (75); the angle sensor (6) and the servo motor (72) are both electrically connected to a controller (8); The other end of the first push rod (24) is hinged to the piston rod (22) via a first axle pin (23), the second axle pin (26) is hinged to a first hinge seat (11) provided on the workbench (1), and the piston rod (22) is hinged to the piston (21).

2. The training device for upper limb rehabilitation according to claim 1, characterized in that: A gear (27) is provided on the second shaft pin (26), and the piston rod (22) is connected to a rack (28) meshing with the gear (27).

3. The training device for upper limb rehabilitation according to claim 1 or 2, characterized in that: The pneumatic glove (4) is a training device for upper limb rehabilitation and comprises a glove body (41). A diverter (42) is provided on the glove body (41). The air inlet of the diverter (42) is connected to a hose (3). The air outlet of the diverter (42) is respectively connected to five diverter tubes (43) corresponding to fingers. An air bag (44) is provided at the corresponding finger joint of each diverter tube (43).

4. The training device for upper limb rehabilitation according to claim 3, characterized in that: The glove body (41) is provided with a fixing plate (45) at a position corresponding to the palm, and the fixing plate (45) is provided with a sleeve ring (46), and the inner diameter of the sleeve ring (46) is adapted to the first handle (25).

5. The training device for upper limb rehabilitation according to claim 1, 2 or 4, characterized in that: The workbench (1) is provided with a first motor (5), an output end of the first motor (5) is connected to a second shaft pin (26), and a controller (8) is electrically connected to the first motor (5).

6. The training device for upper limb rehabilitation according to claim 5, characterized in that: The controller (8) is electrically connected to an electromyographic signal sensor and an electrical stimulation head, and the electromyographic signal sensor and the electrical stimulation head are both arranged on the muscle group to be trained on the affected hand.

7. The training device for upper limb rehabilitation according to claim 6, characterized in that: The workbench (1) is provided with a partition (13), and the partition (13) is arranged between the cylinder body (2) and the training auxiliary machine (7).

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