A rehabilitation training device for stroke patients and a control method thereof

Abstract

The present invention relates to the technical field of stroke rehabilitation devices, and specifically to a rehabilitation training device for stroke patients and a control method thereof. The training device is used when the patient's legs are in water, and includes an upper support structure and a lower support structure tied to the patient's legs. The lower support structure is rotatably connected to the upper support structure. The lower support structure includes a lower support frame, and the lower support frame has an upper part and a lower part. The lower part of the lower support frame is provided with a booster assembly and a power supply assembly. The power supply assembly is electrically connected to the booster assembly, and the booster assembly includes a booster propulsion paddle rotatably arranged at the lower part of the lower support frame. On the one hand, the rehabilitation training device is used underwater, and the underwater resistance is large, so the patient is not easy to fall. Even if he falls, he will not be easily injured in the water, that is, the safety is high; on the other hand, the patient needs to overcome the resistance to actively lift and retract his legs, and the rehabilitation effect is better.

Description

Technical Field

[0001] The present invention relates to the technical field of cerebral stroke rehabilitation devices, and in particular to a cerebral stroke patient rehabilitation training device and a control method thereof. Background Art

[0002] Stroke, also known as apoplexy or cerebrovascular accident, is an acute cerebrovascular disease with high morbidity, mortality and disability. Timely and appropriate rehabilitation training is required for the treatment of stroke. At present, assistive devices are generally used to assist patients in exercise. There are different types of devices, such as physiotherapy beds or physiotherapy exercise machines. Their working principle is to drive the patient's hands or legs to move through external force, thereby moving the patient's joints for rehabilitation.

[0003] However, since the devices in the related art are driven by external forces, if the direction of the force applied is different from or conflicts with the direction of the patient's force during use, it is easy to cause the patient to fall, and even cause injuries in serious cases. Moreover, since such devices are directly driven by external forces to move the patient, the patient is likely to become dependent, resulting in a weak willingness for active exercise, which is not conducive to the patient's recovery. Summary of the invention

[0004] Therefore, in order to improve the problem of poor use effect of rehabilitation equipment in the related art, the present invention provides a rehabilitation training device for stroke patients and a control method thereof.

[0005] In the first aspect, the present application provides a rehabilitation training device for stroke patients, which is worn on the patient's legs and used in water, and is characterized in that it includes an upper support structure and a lower support structure tied to the patient's legs, the lower support structure is rotatably connected to the upper support structure, the lower support structure includes a lower support frame, the lower support frame has an upper part and a lower part, the lower part of the lower support frame is provided with a booster assembly and a power supply assembly, the power supply assembly is electrically connected to the booster assembly, and the booster assembly includes a booster propulsion paddle rotatably arranged at the lower part of the lower support frame.

[0006] Furthermore, the lower support structure also includes a first drive component and a second drive component, the first drive component is arranged on one side of the upper part of the lower support frame, and the second drive component is arranged on the other side of the lower part of the lower support frame, and the power supply component is electrically connected to the first drive component and the second drive component.

[0007] Furthermore, the first driving assembly includes a first water inlet grille, a first regulating paddle and a first drainage grille arranged on the upper part of the lower support frame, the first regulating paddle is rotatably arranged in the first water inlet grille, the first water inlet grille has an opening, the first drainage grille is installed in the opening of the first water inlet grille, and the structure of the second driving assembly is the same as that of the first driving assembly.

[0008] Furthermore, the lower support structure is provided with an adjustment component for adjusting and limiting the angle between the upper support structure and the lower support structure, the adjustment component includes a closed grille located on the upper part of the lower support frame, a fixing ring installed in the closed grille, a limiting member rotatably arranged on the fixing ring, and an outer cover installed on the closed grille, a guide groove is provided on the closed grille, the upper support structure has a guide column, the guide column is slidably connected to the guide groove, a plurality of limit blocks are provided on the inner wall of the closed grille, a plurality of limit gaps for cooperating with the limit member are formed between the limit blocks, and one end of the limit member has a limit portion, and the limit portion is located in the limit gap or detached from the limit gap.

[0009] Furthermore, one end of the limiting member away from the limiting portion has a pressing portion, and the pressing portion abuts against the inner wall of the closed grille.

[0010] Furthermore, the limiting member has a pressing portion for driving the limiting portion to escape from the limiting gap, the outer cover is provided with a through slot through which the limiting member passes, and the pressing portion is located on the outer cover after passing through the through slot of the outer cover.

[0011] Furthermore, the lower support frame has a height-adjusting component for adjusting the distance between the upper part and the lower part, the height-adjusting component includes a height-adjusting button rotatably arranged on the upper part and an adjusting rod fixedly arranged on the lower part, the adjusting rod is slidably connected to the upper part, the adjusting rod is provided with a plurality of grooves along its length direction, the height-adjusting button has a protrusion for matching the groove, and the protrusion is engaged or disengaged with the groove.

[0012] In a second aspect, the present application also provides a control method for a stroke patient rehabilitation training device, comprising the following steps:

[0013] S1: Detect the patient's leg status, generate and obtain detection data;

[0014] S2: determining whether the patient is in a hip external rotation state according to the detection data, and if so, driving the first driving component or the second driving component to correct the patient's leg;

[0015] S3: Classify the detection data, and drive the boost component, the first drive component or the second drive component to perform an action according to the classification.

[0016] Furthermore, the classification according to the detection data in S3 is specifically as follows:

[0017] The patient's legs are in a raised state; the patient's legs are in a retracted state;

[0018] The specific actions of driving the boosting component, the first driving component or the second driving component according to the classification in S3 are:

[0019] If the patient's legs are in a raised state, the booster assembly is driven to rotate forward to push the water flow to help the patient lift his legs;

[0020] If the patient's legs are in a state of being retracted, the booster assembly stops rotating and relies on its own weight to assist the patient in retracting his legs.

[0021] Furthermore, the classification according to the detection data in S3 is specifically as follows:

[0022] The patient's legs are in a raised state; the patient's legs are in a retracted state;

[0023] The specific actions of driving the boosting component, the first driving component or the second driving component according to the classification in S3 are:

[0024] If the patient's legs are in a raised state, the booster assembly is driven to reverse and generate resistance, and the patient needs to spend more effort to raise the legs;

[0025] If the patient's legs are in a retracted state, the booster assembly rotates forward, and the patient needs to expend greater effort to retract the legs.

[0026] Compared with the prior art, the technical solution of the present invention has the following advantages:

[0027] 1. The present application discloses a rehabilitation training device for stroke patients. By setting an upper support structure and a lower support structure, and setting a booster component on the lower support structure, when the patient is undergoing rehabilitation training, the patient lifts his legs, and the booster component is activated at this time, and the booster component generates a propulsion force to push the patient's legs up; when the patient retracts his legs, the booster component is closed at this time, and the weight of the rehabilitation training device is used to drive the patient's legs down, thereby achieving the purpose of assisting the patient's rehabilitation training. On the one hand, the rehabilitation training device is used underwater, and the underwater resistance is large, so it is not easy for the patient to fall. Even if he falls, he will not be easily injured in the water, that is, it is highly safe; on the other hand, the patient needs to overcome the resistance to actively lift and retract his legs, and the rehabilitation effect is better.

[0028] 2. The rehabilitation training device further includes a first drive component and a second drive component. By setting the first drive component and the second drive component, when the patient has external hip rotation during the rehabilitation process, the first drive component or the second drive component will act to generate a boost force on the patient's legs, thereby correcting the patient's legs;

[0029] 3. By setting up a detection component, the rehabilitation training device becomes more intelligent. The detection component detects the status of the patient's legs in real time and provides feedback. The first drive component and the second drive component adjust the patient's legs based on the feedback from the detection component, thereby further improving the rehabilitation effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 This is a schematic diagram of the structure of a rehabilitation training device for stroke patients in this application;

[0032] Figure 2 Another structural schematic diagram of a rehabilitation training device for stroke patients in this application;

[0033] Figure 3 This is a schematic diagram of the structural explosion of a rehabilitation training device for stroke patients in this application;

[0034] Figure 4 This is a schematic diagram of the structure of the booster assembly and the second drive assembly in this application;

[0035] Figure 5 It is a schematic diagram of the structure of the height adjustment component in this application;

[0036] Figure 6 This is a schematic diagram of the structural installation of the height adjustment component in this application;

[0037] Figure 7 This is a schematic diagram of the explosion structure of the detection component and the adjustment component in this application;

[0038] Figure 8 This is a schematic diagram of the structure of the detection component and the adjustment component in this application;

[0039] Fig. 9 This is a schematic diagram of wearing a rehabilitation training device for stroke patients in the present application.

[0040] Description of reference numerals:

[0041] 1. Upper support structure; 11. Upper support frame; 111. Rotating part; 1111. Guide column; 12. Upper strap; 2. Lower support structure; 21. Lower support frame; 211. Upper part; 212. Height adjustment component; 2121. Height adjustment button; 2122. Adjustment rod; 2123. Bump; 2124. Groove; 213. Lower part; 22. Boost component; 221. Boost propeller; 23. Power supply component; 231. Battery compartment; 232. Battery pack; 233. Compartment cover; 234. Wireless charging ring; 235. Sealing cover; 24. The first driving assembly; 241, the first water inlet grille; 242, the first standard paddle; 243, the first drainage grille; 25, the second driving assembly; 251, the second water inlet grille; 252, the second standard paddle; 253, the second drainage grille; 26, the adjusting assembly; 261, the closed grille; 2611, the guide groove; 2612, the limit block; 262, the fixing ring; 263, the limit piece; 2631, the limit part; 2632, the pressing part; 2633, the pressing part; 264, the outer cover; 27, the detecting assembly; 271, the circuit board. DETAILED DESCRIPTION

[0042] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0044] Embodiment 1:

[0045] Reference Figure 1 and Figure 2 In the first aspect, the present application provides a rehabilitation training device for stroke patients, which is worn on the patient's legs and used in water. This embodiment takes the wearing situation of the patient's right leg as an example, and it includes an upper support structure 1 and a lower support structure 2 tied to the patient's leg. Specifically, the upper support structure 1 includes an upper support frame 11, and the upper support frame 11 has a "U"-shaped surrounding groove so that it can be wrapped around the patient's leg. The surrounding groove is provided with an upper strap 12, and the upper support frame 11 can be tied to the patient's leg through the upper strap 12. In order to connect with the lower support structure 2, the upper support structure 1 has two rotating parts 111 at the bottom, and the two rotating parts 111 are rotatably connected to the lower support structure 2.

[0046] Reference Figure 3The lower support structure 2 includes a lower support frame 21. The lower support frame 21 has an upper portion 211 and a lower portion 213 in the height direction. The upper portion 211 of the lower support frame 21 is rotatably connected to the rotating shaft, so that the upper support frame 11 can rotate along the axis of the rotating shaft. The lower portion 213 of the lower support frame 21 has a "U"-shaped surrounding groove so that it can be installed on the patient's leg. At the same time, the lower portion 213 of the lower support frame 21 is provided with a lower strap, and the lower support frame 21 is tied to the patient's leg through the lower strap. In addition, in order to improve the wearing comfort, a cotton pad is also wrapped in the surrounding groove of the lower portion 213 of the lower support frame 21. In this embodiment, in order to adapt to the legs of different patients, the upper support structure 1 and the lower support structure 2 are both made using a flexible alloy outer silicone process method.

[0047] Reference Figure 3 and Figure 4 In addition, the lower portion 213 of the lower support frame 21 is also provided with a booster assembly 22 and a power supply assembly 23. Specifically, the booster assembly 22 is located at the rear of the lower portion 213 of the lower support frame 21. The booster assembly 22 includes a booster propeller 221 rotatably arranged at the lower portion 213 of the lower support frame 21 and a booster submersible motor. The booster propeller 221 is coaxially installed with the output shaft of the booster submersible motor. The booster submersible motor is a submersible motor. The booster propeller 221 can be driven to rotate by connecting electricity to the submersible motor. The power supply assembly 23 is located at one side of the lower portion 213 of the lower support frame 21. The power supply assembly 23 includes a battery compartment 231 fixedly connected to the lower support frame 21, a battery pack 232 installed in the battery compartment 231, and a compartment cover 233 for closing the battery compartment 231. The battery pack 232 is electrically connected to the submersible motor through a wire. It should be noted that the compartment cover 233 is a sealed compartment after being installed on the battery compartment 231. The battery pack 232 installed in the battery compartment 231 will not be affected when working underwater. The battery pack 232 is electrically connected to the submersible motor through wires, and the wires are routed in the lower part 213 of the lower support frame 21.

[0048] At the same time, a wireless charging ring 234 and a sealing cover 235 are installed on the side of the battery compartment 231 away from the lower support frame 21. The wireless charging ring 234 is connected to an external power source through a wire to charge the battery pack 232 in the battery compartment 231. The purpose of setting the wireless charging ring 234 is to conveniently charge the battery pack 232. In actual use, the booster assembly 22 can also be powered by replacing the battery pack 232 on the water. If the battery pack 232 is replaced for charging, the wireless charging ring 234 can be used to charge the battery. The submersible motor, the battery compartment 231 and the wireless charging ring 234 are prior art and will not be described here.

[0049] By setting a booster component 22 and a power supply component 23, the rehabilitation training device is worn on the patient's legs, and then the patient's legs are immersed in water, and the patient is asked to lift and lower his legs. When the patient lifts his legs, the training device is started, and the power supply component 23 supplies power to the booster component 22, driving the booster propeller 221 to rotate. The rotation of the booster propeller 221 will generate a booster force to assist the patient in lifting his legs. When the patient retracts his legs, the booster component 22 is turned off, and the weight of the training device is used to assist the patient in retracting his legs. Since this rehabilitation training device is used in water, if the patient falls, the fluid in the water will act as a buffer to protect the patient. Secondly, this rehabilitation training device will not actively move the patient, but the patient will actively lift and retract his legs, and then assist in lifting and retracting the legs, that is, the patient needs to actively exercise, thereby effectively improving the rehabilitation effect.

[0050] In addition, the lower support structure 2 also includes a first drive component 24 and a second drive component 25. The first drive component 24 is arranged on one side of the upper portion 211 of the lower support frame 21, and the second drive component 25 is arranged on the other side of the lower portion 213 of the lower support frame 21 different from the first drive component 24, that is, the second drive component 25 is located obliquely above the first drive component 24, and the power supply component 23 is electrically connected to the first component and the second drive component 25. Specifically, the first driving assembly 24 includes a first water inlet grille 241, a first standard paddle 242 and a first drainage grille 243 arranged on the upper part 211 of the lower support frame 21. The first standard paddle 242 is rotatably arranged in the first water inlet grille 241. A first submersible motor is installed in the first water inlet grille 241. The first submersible motor is specifically installed in the first water inlet grille 241 by gluing. The first submersible motor is electrically connected to the power supply assembly 23 through a wire. The first standard paddle 242 is coaxially connected to the output shaft of the first submersible motor. The first water inlet grille 241 has an opening, and the first drainage grille 243 is installed in the opening of the first water inlet grille 241.

[0051] The structure of the second drive assembly 25 is the same as that of the first drive assembly 24, that is, the second drive assembly 25 includes a second water inlet grille 251, a second standard paddle 252 and a second drainage grille 253 arranged on the upper part 211 of the lower support frame 21, the second standard paddle 252 is rotatably arranged in the second water inlet grille 251, a second submersible motor is installed in the second water inlet grille 251, and the second submersible motor is specifically installed in the second water inlet grille 251 by gluing. The second submersible motor is electrically connected to the power supply assembly 23 through a wire, the second standard paddle 252 is coaxially connected to the output shaft of the second submersible motor, the second water inlet grille 251 has an opening, and the second drainage grille 253 is installed at the opening of the second water inlet grille 251.

[0052] When the rehabilitation training device is worn on the patient's leg, the side of the lower part 213 of the lower support frame 21 close to the patient's leg is the power supply component 23, the side away from the patient's leg is the second drive component 25, and the rear part is the boost component 22. The side of the upper part 211 of the lower support frame 21 close to the patient's leg is the first drive component 24. When the first drive component 24 is in operation, the first standard paddle rotates under the action of the first submersible motor, thereby generating a boost force on the patient's leg. The working principle of the second drive component 25 is the same as that of the first drive component 24, and the second drive component 25 generates a boost force on the other side of the patient's leg. By setting the first drive component 24 and the second drive component 25, when the patient has external rotation of the hip, the first drive component 24 or the second drive component 25 is operated to generate a boost force on one or both sides of the patient's leg, which can assist the patient in walking on the one hand, and correct the patient's walking posture on the other hand, so that the patient walks underwater in a normal posture, that is, corrects the patient's external rotation of the hip.

[0053] Reference Figure 5 and Figure 6 In order to further increase the convenience of use, a height adjustment component 212 is provided between the upper support frame 11 and the lower support frame 21, and the upper part 211 of the lower support frame and the lower part 213 of the lower support frame 21 are connected through the height adjustment component 212. Specifically, the height adjustment component 212 includes an adjustment rod 2122 and a height adjustment button 2121. One end of the adjustment rod 2122 in the length direction is fixedly connected to the lower part 213 of the lower support frame 21, and the other end of the adjustment rod 2122 in the length direction is used to cooperate with the upper part 211 of the lower support frame 21. The upper part 211 is provided with a through hole at one end for installing the adjustment rod 2122. The upper part 211 is sleeved on the adjustment rod 2122 through the through hole and is slidably connected to the adjustment rod 2122. By applying an upward or downward force to the upper part 211, the upper part 211 can be driven to move along the length direction of the adjustment rod 2122.

[0054] In order to limit the position of the upper part 211 on the adjusting rod 2122, the adjusting rod 2122 is provided with a plurality of grooves 2124 along its length direction, and the upper part 211 is provided with a through groove, which is opposite to the adjusting rod 2122. There are rotating shafts on both sides of the height adjustment button 2121, and a blind hole matching the rotating shaft is provided in the through groove. The height adjustment button 2121 is rotatably arranged in the blind hole of the through groove through its rotating shaft, so that the height adjustment button 2121 can rotate around the axis of the rotating shaft, and a protrusion 2123 is fixedly provided at the lower end of the height adjustment button 2121, and the protrusion 2123 is interference fit with the groove 2124 of the adjusting rod 2122. The principle of the height adjustment component 212 is to rotate the height adjustment button 2121 so that the protrusion 2123 of the height adjustment button 2121 disengages from the groove 2124, driving the upper part 211 to slide along the length direction of the adjusting rod 2122, and then rotate the height adjustment button 2121 so that the protrusion 2123 of the height adjustment button 2121 is inserted into the groove 2124 with interference fit, so that the distance between the upper part 211 and the lower part 213 of the lower support frame 21 can be adjusted through the height adjustment button 2121.

[0055] Refer to 7 and Figure 8 At the same time, in order to increase the functionality of the rehabilitation training device, the lower support structure 2 also includes an adjustment component 26. The adjustment component 26 is used to adjust and limit the angle between the upper support structure 1 and the lower support structure 2. Specifically, the adjustment component 26 includes a closed grille 261 located at the upper part 211 of the lower support frame 21, a fixed ring 262 installed in the closed grille 261, a limiter 263 sleeved on the fixed ring 262, and an outer cover 264. More specifically, a guide slide column 1111 is fixedly provided near the rotating part 111 of the upper support frame 11, and a guide slide groove 2611 is provided on the fixed grille. The guide slide column 1111 is slidably connected with the guide slide groove 2611. When the rotating part 111 rotates, the guide slide column 1111 of the rotating part 111 will slide in the guide slide groove 2611, and the guide slide groove 2611 will limit the range of motion of the guide slide column 1111. The fixing ring 262 is annular and fixedly arranged in the middle of the enclosed grille 261. The limiting member 263 is sleeved on the fixing ring 262 and can rotate around the fixing ring 262. The limiting member 263 extends from the middle of the enclosed grille 261 to the edge of the enclosed grille 261. At the same time, the limiting member 263 has a limiting portion 2631 at one end close to the enclosed grille 261. The limiting portion 2631 is spike-shaped. Correspondingly, a plurality of limiting blocks 2612 are arranged on the inner edge of the enclosed grille 261. A plurality of limiting gaps are provided between the plurality of limiting blocks 2612 for matching the limiting portion 2631. The shape of the limiting gaps matches the shape of the limiting portion 2631. By rotating the limit member 263, the limit portion 2631 can be inserted into the limit gap at different positions. Since the limit member 263 extends from the middle of the closed grille 261 to the edge of the closed grille 261, the guide slide column 1111 is limited, and then the angle between the upper support structure 1 and the lower support structure 2 is adjusted and limited.

[0056] The end of the limiting member 263 away from the limiting portion 2631 has a pressing portion 2632, and the pressing portion 2632 is in a "Z" shape. When the limiting member 263 is rotated so that the limiting portion 2631 is inserted into the limiting gap, the pressing portion 2632 will abut against the inner edge of the closed grille 261, and the pressing portion 2632 will increase the friction between the limiting member 263 and the closed grille 261 due to being squeezed, thereby limiting the rotation of the limiting member 263. At the same time, a retaining wall is also provided in the closed grille 261 to prevent the limiting member 263 from rotating into the guide slot 2611 due to operational errors. By providing the pressing portion 2632, the limiting portion 2631 can be stably located in the limiting gap, thereby limiting the guide slide column 1111.

[0057] At the same time, the limiting member 263 is also fixedly provided with a pressing portion 2633, and the pressing portion 2633 is in an "L" shape. By pressing the pressing portion 2633, the pressing portion 2633 will drive the limiting portion 2631 of the limiting member 263 to move in the direction away from the limiting gap, thereby making the limiting portion 2631 of the limiting member 263 disengage from the limiting gap. Then, keep pressing the pressing portion 2633, rotate the limiting member 263 to other gaps and release the pressing portion 2633, so that the limiting portion 2631 of the limiting member 263 can be adjusted to different limiting gaps to limit the guide slide column 1111. The outer cover 264 is buckled and installed on the closed grille 261 to cooperate with the closed grille 261 to close the closed grille 261. The outer cover 264 is provided with an "L"-shaped through slot to adapt to the pressing portion 2633. After the outer cover 264 is installed, the pressing portion 2633 passes through the "L"-shaped through slot of the outer cover 264 and abuts and is located on the outer cover 264, so as to facilitate pressing. When the outer cover 264 is rotated, the applied external force will be transmitted to the pressing portion 2633 through the "L"-shaped through slot of the outer cover 264, thereby rotating the limiter 263.

[0058] Reference Fig. 9 , Fig. 9 The left side shows a patient who does not wear the rehabilitation training device of the present application. Fig. 9 On the right is a patient wearing the rehabilitation training device of the present application. By setting the adjustment component 26, when the patient wears the rehabilitation training device of the present application, the angle between the upper support structure 1 and the lower support structure 2 is adjusted and limited by the limiter 263, thereby limiting the bending angle of the patient's knee. While the patient is undergoing stroke rehabilitation training, the hyperextension condition of the patient's knee is corrected, thereby increasing the functionality of the rehabilitation training device of the present application.

[0059] Replay Figure 7 and Figure 8In order to conveniently drive the first drive assembly 24 and the second drive assembly 25, the lower support structure 2 also includes a detection assembly 27, which is located in the closed grille 261. The detection assembly 27 includes a circuit board 271 installed in the closed grille 261. The circuit board 271 is electrically connected to a sensor. In this embodiment, the sensor is specifically MPU9250. MPU9250 integrates a 3-axis gyroscope, a 3-axis accelerometer and a 3-axis magnetometer, and can output a 16-bit digital quantity. MPU9250 can be purchased and is not described in detail. The circuit board 271 also integrates a receiving calculation module and a control module. The receiving calculation module is used to receive data from the sensor and then calculate and feed it back to the control module. The control module is used to control the actions of the first drive assembly 24 and the second drive assembly 25. The receiving calculation module and the control module can be implemented by existing technologies. It should be noted that the detection assembly 27 is waterproofed. After the detection assembly 27 is installed in the closed grille 261, it will not interfere with the limiter 263 of the adjustment assembly 26.

[0060] Embodiment 2:

[0061] In a second aspect, the present application also provides a control method for a stroke patient rehabilitation training device, comprising the following steps:

[0062] S1: Detect the patient's leg status, generate and obtain detection data;

[0063] Specifically, an X, Y, and Z coordinate system is established, and the training device is worn on the patient's legs to assist the patient in performing standard and correct leg-lifting and leg-retraction movements. At this time, the sensor will detect the position of the patient's legs, calculate and draw a spatial map based on the sensor data, and know the position of the patient's legs and gait cycle, and establish a model of the patient's normal state based on the sensor data. When the patient subsequently lifts and retracts his legs, the sensor will similarly detect the position of the patient's legs, continue to calculate and draw a spatial map based on the sensor data, know the position of the patient's legs and gait cycle, and make a real-time comparison with the normal state data, so as to know the patient's leg state at this time. This method can be implemented through existing technology.

[0064] S2: judging whether the patient is in a state of hip external rotation according to the test data, and correcting the patient if so;

[0065] Specifically, according to the comparison between the sensor data and the data of the normal state, if the patient's leg is in the state of hip external rotation, the sensor data in the X-axis direction at this time is greatly different from the X-axis data in the normal state, and at this time, the first drive component 24 or the second drive component 25 is driven to rotate forward to generate a reaction force to correct the patient's leg. During this process, the sensor will continue to measure and feedback until the patient's leg returns to a normal state. More specifically, in this embodiment, the patient's hip external rotation is corrected and offset by dynamically adjusting the PID control system.

[0066] S3: Classify the detection data and drive the booster assembly 22, the first drive assembly 24 or the second drive assembly 25 to perform actions according to the classification;

[0067] Specifically, when the patient lifts or retracts his legs, the acceleration of the sensor in the Z-axis direction changes significantly. The patient's legs are judged based on the change in the acceleration in the Z-axis direction, and the patient's leg status is classified into: the patient's legs are in a lifted state and the patient's legs are in a retracted state.

[0068] When driving the first driving assembly 24 or the second driving assembly 25 to perform an action, the rehabilitation training device of the present application has two modes, one is a power-assisting mode and the other is a resistance mode:

[0069] In the assist mode: according to the patient's leg state obtained in S3, if the patient's leg is in the lifted state, the booster assembly 22 is driven to rotate forward to push the water flow to help the patient lift the leg; if the patient's leg is in the retracted state, the booster assembly 22 stops rotating and relies on its own weight to assist the patient to retract the leg. It should be noted that during this process, if the patient has hip external rotation, the first drive assembly 24 and the second drive assembly 25 will also perform corresponding actions to correct the patient.

[0070] In the resistance mode: according to the patient's leg state obtained in S3, if the patient's leg is in the lifted state, the booster assembly 22 is driven to reverse and generate resistance, and the patient needs to spend more effort to lift the leg; if the patient's leg is in the retracted state, the booster assembly 22 rotates forward, and the patient needs to spend more effort to retract the leg. It should be noted that during this process, if the patient has hip external rotation, the first drive assembly 24 and the second drive assembly 25 will also perform corresponding actions to correct the patient.

[0071] In actual application, one of the modes can be selected according to the patient's recovery status.

[0072] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the present invention.

Claims

1. A rehabilitation training device for stroke patients, worn on the patient's legs and used in water, characterized in that: The invention comprises an upper support structure (1) and a lower support structure (2) which are attached to the patient's legs, wherein the lower support structure (2) is rotatably connected to the upper support structure (1), and the lower support structure (2) comprises a lower support frame (21), wherein the lower support frame (21) has an upper portion (211) and a lower portion (213), and the lower portion (213) of the lower support frame (21) is provided with a boosting assembly (22) and a power supply assembly (23), wherein the power supply assembly (23) is electrically connected to the boosting assembly (22), and the boosting assembly (22) comprises a boosting propulsion paddle (221) rotatably arranged at the lower portion (213) of the lower support frame (21); The lower support structure (2) further comprises a first drive assembly (24) and a second drive assembly (25), wherein the first drive assembly (24) is arranged on one side of the upper portion (211) of the lower support frame (21), and the second drive assembly (25) is arranged on the other side of the lower portion (213) of the lower support frame (21), and the power supply assembly (23) is electrically connected to the first drive assembly (24) and the second drive assembly (25); The first driving assembly (24) comprises a first water inlet grille (241), a first regulating paddle (242) and a first drainage grille (243) arranged on the upper part (211) of the lower support frame (21); the first regulating paddle (242) is rotatably arranged in the first water inlet grille (241); the first water inlet grille (241) has an opening; the first drainage grille (243) is installed in the opening of the first water inlet grille (241); the structure of the second driving assembly (25) is the same as that of the first driving assembly (24); The lower support structure (2) is provided with an adjustment component (26) for adjusting and limiting the angle between the upper support structure (1) and the lower support structure (2), the adjustment component (26) comprising a closed grille (261) located at the upper part (211) of the lower support frame (21), a fixing ring (262) installed in the closed grille (261), a stopper (263) rotatably arranged on the fixing ring (262), and an outer cover (264) installed on the closed grille (261), the closed grille (261) A guide slide groove (2611) is provided on the upper support structure (1), the guide slide column (1111) is slidably connected to the guide slide groove (2611), a plurality of limit blocks (2612) are provided on the inner wall of the closed grille (261), a plurality of limit gaps for cooperating with the limit member (263) are formed between the limit blocks (2612), one end of the limit member (263) has a limit portion (2631), and the limit portion (2631) is located in the limit gap or separated from the limit gap; The lower support frame (21) has a height adjustment component (212) for adjusting the distance between the upper part (211) and the lower part (213), the height adjustment component (212) comprising a height adjustment button (2121) rotatably arranged on the upper part (211) and an adjustment rod (2122) fixedly arranged on the lower part (213), the adjustment rod (2122) being slidably connected to the upper part (211), the adjustment rod (2122) being provided with a plurality of grooves (2124) along its length direction, the height adjustment button (2121) having a protrusion (2123) for matching with the groove (2124), the protrusion (2123) being engaged with or disengaged from the groove (2124).

2. A stroke patient rehabilitation training device according to claim 1, characterized in that: One end of the limiting member (263) away from the limiting portion (2631) has a pressing portion (2632), and the pressing portion (2632) abuts against the inner wall of the closed grille (261).

3. A rehabilitation training device for stroke patients according to claim 2, characterized in that: The limiting member (263) is provided with a pressing portion (2633) for driving the limiting portion (2631) to escape from the limiting gap; the outer cover (264) is provided with a through slot through which the limiting member (263) passes; the pressing portion (2633) is located on the outer cover (264) after passing through the through slot of the outer cover (264).

4. A control method for a rehabilitation training device for stroke patients, used in a rehabilitation training device for stroke patients according to any one of claims 1 to 3, characterized in that: The steps include: S1: Detect the patient's leg status, generate and obtain detection data; S2: judging whether the patient is in a state of hip external rotation according to the detection data, and if so, driving the first driving component (24) or the second driving component (25) to correct the patient's leg; S3: Classifying according to the detection data, and driving the boosting component (22), the first driving component (24) or the second driving component (25) to perform actions according to the classification.

5. The control method of a stroke patient rehabilitation training device according to claim 4, characterized in that: The classification according to the detection data in S3 is specifically as follows: The patient's legs are in a raised state; the patient's legs are in a retracted state; In S3, the boosting component (22), the first driving component (24) or the second driving component (25) are driven according to the classification to perform the following actions: If the patient's legs are in a raised state, the boosting assembly (22) is driven to rotate forward to push the water flow to help the patient lift his legs; If the patient's legs are in a state of being retracted, the boosting assembly (22) stops rotating and assists the patient to retract his legs by its own weight.

6. The control method of a stroke patient rehabilitation training device according to claim 4, The classification according to the detection data in S3 is specifically as follows: The patient's legs are in a raised state; the patient's legs are in a retracted state; In S3, the boosting component (22), the first driving component (24) or the second driving component (25) are driven according to the classification to perform the following actions: If the patient's legs are in a raised state, the booster assembly (22) is driven to reverse and generate resistance, so that the patient needs to exert more effort to raise the legs; If the patient's legs are in a state of retracting the legs, the booster assembly (22) rotates forward, and the patient needs to expend greater effort to retract the legs.

Images