Intelligent high-resolution upper limb proprioception evaluation and training device

Abstract

The application relates to a high-resolution intelligent upper limb proprioceptive evaluation and training device, and belongs to the technical field of medical rehabilitation.The application is used to solve the problems of the existing upper limb proprioceptive evaluation and training device, such as large volume, complicated operation, inconvenience in moving and carrying, etc.The application comprises a base, an elbow bracket, a motor coding mechanism, a main handle, an arc-shaped sliding rail mechanism and a connecting frame, the elbow bracket is fixedly connected to one side of the upper end face of the base, the motor coding mechanism is arranged in front of the elbow bracket, the output shaft of the motor coding mechanism is fixedly connected to one end of the connecting frame, the arc-shaped sliding rail mechanism is arranged between the lower end face of the other end of the connecting frame and the other side of the upper end face of the base, the main handle is arranged in the middle of the upper end face of the connecting frame and is slidably connected along the length direction of the connecting frame.The application is used for upper limb proprioceptive evaluation and training.

Description

Technical Field

[0001] This invention relates to the field of medical rehabilitation technology, specifically to an intelligent, high-resolution upper limb proprioceptive assessment and training device. Background Technology

[0002] Proprioception refers to the sensations produced by motor organs such as muscles, tendons, and joints in different states (movement or rest). Following various neurological diseases such as Parkinson's disease, traumatic brain injury, and stroke, motor function and proprioceptive function are often impaired. Upper limb sensory-motor impairment severely affects the ability to perform daily activities. Sensation and motor function are inseparable; impaired sensory function also affects neuromuscular control. However, current research largely focuses on wrist joint motor function, often neglecting the assessment and training of proprioception. One of the main goals of neurorehabilitation is to restore sensory-motor function after neurological lesions; near-normal motor function recovery depends on the integrity of the proprioceptive system.

[0003] Although it is recognized that proprioceptive impairment is one of the most common impairments in a variety of neurological disorders, clinical assessments, especially for upper limb proprioception, often involve simply asking patients to identify the direction of joint movement upwards or downwards for a basic test. These clinical assessment methods have poor reliability and sensitivity among evaluators and cannot accurately quantify the degree of proprioceptive impairment.

[0004] In international research, the Contrex multi-joint isokinetic strength testing and training instrument and the Biodex multi-joint isokinetic strength tester are relatively common proprioceptive measurement devices. Although they can objectively reflect the measurement results, their accuracy is not high. For example, the resolution of the Contrex multi-joint isokinetic strength testing and training instrument can only reach 1 degree. In addition, the purpose of existing proprioceptive measurement devices is to test multiple functions of multiple joints throughout the body. The entire device is bulky, expensive, cumbersome to operate, and inconvenient to move and carry, which is not conducive to the assessment and training of hospitals, scientific research, and patients themselves. Summary of the Invention

[0005] In order to solve the problems of existing upper limb proprioceptive assessment and training devices being too bulky, cumbersome to operate, and inconvenient to move and carry, this invention proposes an intelligent, high-resolution upper limb proprioceptive assessment and training device.

[0006] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows:

[0007] An intelligent, high-resolution upper limb proprioceptive assessment and training device includes a base, an elbow support, a motor encoder mechanism, a main handle, an arc-shaped slide rail mechanism, and a connecting frame. The elbow support is fixed to one side of the upper surface of the base. The motor encoder mechanism is located in front of the elbow support, and its output shaft is fixed to one end of the connecting frame. The arc-shaped slide rail mechanism is located between the lower end of the other end of the connecting frame and the other side of the upper surface of the base. The main handle is located in the middle of the upper surface of the connecting frame and is slidably connected along the length of the connecting frame.

[0008] Furthermore, the intelligent high-resolution upper limb proprioceptive assessment and training device also includes an extension component, which includes an extension frame, a sub-bracket, and a sub-handle. One end of the extension frame is detachably connected to the upper surface of the other end of the connecting frame. The sub-bracket is fixed to one end of the upper surface of the extension frame. The sub-handle is located at the other end of the upper surface of the extension frame and is slidably connected along the length of the extension frame.

[0009] Furthermore, the base includes a base, a motor base, and a slide rail base. The base is horizontally arranged, the motor base is fixed to the middle of the upper surface of the base, and the slide rail base is fixed to the other side of the upper surface of the base. Two sets of arc-shaped circular hole matrices are symmetrically arranged on the upper surface of the slide rail base along the width direction of the base.

[0010] Furthermore, the arc-shaped circular hole matrix is ​​set with the axis of the motor encoder mechanism as the center. The arc-shaped circular hole matrix includes multiple groups of circular holes, which are evenly distributed along the arc direction. Each group of circular holes includes multiple circular holes evenly distributed along the radial direction.

[0011] Furthermore, the interval between each two adjacent sets of circular holes is 1°.

[0012] Furthermore, the motor encoding mechanism includes a servo motor, a motor bracket, rolling bearings, a coupling, an encoder bracket, and an absolute encoder. The servo motor is fixed to the lower end of the motor base and embedded in the upper surface of the base. The motor bracket is fixed to the upper end of the motor base. The coupling is inserted into the motor bracket, and the motor bracket and the coupling are connected by rolling bearings. The lower end of the coupling is connected to the motor shaft of the servo motor, and the upper end of the coupling is connected to one end of the connecting frame. The encoder bracket is fixed above the motor bracket, and the absolute encoder is fixed to the encoder bracket and connected to one end of the connecting frame.

[0013] Furthermore, a connecting shaft is vertically inserted and fixed to one end of the connecting frame. The connecting shaft is inserted into the encoder bracket. The upper end of the coupling is connected to the lower end of the connecting shaft, and the absolute encoder is connected to the upper end of the connecting shaft.

[0014] Furthermore, the arc-shaped slide rail mechanism includes a slider and an arc-shaped guide rail. The arc-shaped guide rail is fixed to the upper end face of the slide rail seat and is disposed inside the arc-shaped circular hole matrix. The slider is fixed to the lower end face of the other end of the connecting frame. A sliding groove is provided on the lower end face of the slider. The sliding groove is fitted onto the outer side of the arc-shaped guide rail and is slidably connected along the length direction of the arc-shaped guide rail.

[0015] Furthermore, the elbow support includes a support rod and an elbow support, with the support rod vertically fixed to the upper end surface of the motor base and the elbow support fixed to the upper end of the support rod.

[0016] Furthermore, the lower end of the main handle is provided with a locking bolt, the middle part of the connecting frame is provided with an oblong hole along the length direction, the main handle is vertically set at the upper end of the oblong hole, the locking bolt is inserted into the oblong hole, and the nut of the locking bolt is set at the lower end of the oblong hole.

[0017] The beneficial effects of this invention compared to the prior art are:

[0018] To accurately quantify the level of proprioceptive impairment in the upper limbs of clinical patients, promote synchronous training of upper limb proprioception and movement, and improve rehabilitation outcomes, this invention designs an intelligent, high-resolution upper limb proprioceptive assessment and training device. Through the coordination of a servo motor, an absolute encoder, and the subject's own active movements, it can fulfill three functions: upper limb wrist and elbow joint proprioceptive function training, proprioceptive assessment, and sensorimotor function assessment. The device is simple in design, low in cost, easy to operate, small in size, and portable, meeting the assessment and training needs of hospitals, research institutions, and patients themselves, without causing any physiological or psychological impact on the subject. The device has a high resolution, reaching 0.1 degrees, and features closed-loop control, accurately controlling and feeding back multiple variables such as the angle, direction, and speed of movement, comprehensively reflecting the subject's proprioceptive status. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 This is a schematic diagram of the structure of the motor encoding mechanism 3 in this invention;

[0021] Figure 3 This is the front view of the base 1 in this invention. Detailed Implementation

[0022] Specific implementation method one: Combining Figures 1 to 3This embodiment describes an intelligent, high-resolution upper limb proprioceptive assessment and training device, comprising a base 1, an elbow support 2, a motor encoder 3, a main handle 4, an arc-shaped slide rail mechanism 5, and a connecting frame 6. The elbow support 2 is fixed to one side of the upper surface of the base 1. The motor encoder 3 is located in front of the elbow support 2, and its output shaft is fixed to one end of the connecting frame 6. The arc-shaped slide rail mechanism 5 is located between the lower end of the other end of the connecting frame 6 and the other side of the upper surface of the base 1. The main handle 4 is located in the middle of the upper surface of the connecting frame 6 and is slidably connected along the length of the connecting frame 6.

[0023] Specific Implementation Method Two: Combining Figures 1 to 3 This embodiment describes an intelligent, high-resolution upper limb proprioceptive assessment and training device that further includes an extension component. The extension component comprises an extension frame 7, a sub-bracket 8, and a sub-handle 9. One end of the extension frame 7 is detachably connected to the upper surface of the other end of the connecting frame 6. The sub-bracket 8 is fixed to one end of the upper surface of the extension frame 7. The sub-handle 9 is located at the other end of the upper surface of the extension frame 7 and is slidably connected along the length of the extension frame 7. Undisclosed technical features in this embodiment are the same as in Specific Embodiment 1.

[0024] If you want to assess or train the proprioception of the wrist joint, you don't need to install the extension frame 7 and its sub-bracket 8 and sub-handle 9; if you want to assess or train the proprioception of the elbow joint, you need to install the extension frame 7 and its sub-bracket 8 and sub-handle 9, and remove the main handle 4 on the connecting frame 6.

[0025] Specific implementation method three: Combining Figures 1 to 3 This embodiment describes a base 1 comprising a base 11, a motor mount 12, and a slide rail mount 13. The base 1 is horizontally positioned. The motor mount 12 is fixedly connected to the center of the upper surface of the base 1, and the slide rail mount 13 is fixedly connected to the other side of the upper surface of the base 11. Two sets of arc-shaped circular hole matrices 14 are symmetrically arranged on the upper surface of the slide rail mount 13 along the width direction of the base 11. Undisclosed technical features in this embodiment are the same as in specific embodiments one or two.

[0026] Specific implementation method four: Combination Figures 1 to 3 This embodiment describes an arc-shaped circular hole matrix 14 centered on the axial direction of the motor encoder mechanism 3. The arc-shaped circular hole matrix 14 includes multiple groups of circular holes, each evenly distributed along the arc direction. Each group of circular holes includes multiple circular holes evenly distributed radially. The undisclosed technical features in this embodiment are the same as in specific embodiment three.

[0027] Specific Implementation Method Five: Combining Figures 1 to 3This embodiment describes a 1° interval between each pair of adjacent groups of circular holes. The undisclosed technical features in this embodiment are the same as in specific embodiment four.

[0028] The degree of this circular hole can be compared with that of the absolute encoder 36 for calibration and verification, and a rough evaluation can also be performed without power.

[0029] Specific Implementation Method Six: Combination Figures 1 to 3 This embodiment describes a motor encoding mechanism 3 comprising a servo motor 31, a motor bracket 32, a rolling bearing 33, a coupling 34, an encoder bracket 35, and an absolute encoder 36. The servo motor 31 is fixed to the lower end of the motor base 12 and embedded in the upper surface of the base 11. The motor bracket 32 ​​is fixed to the upper end of the motor base 12. The coupling 34 is inserted into the motor bracket 32, and the motor bracket 32 ​​and the coupling 34 are connected via the rolling bearing 33. The lower end of the coupling 34 is connected to the motor shaft of the servo motor 31, and the upper end of the coupling 34 is connected to one end of the connecting frame 6. The encoder bracket 35 is fixed above the motor bracket 32, and the absolute encoder 36 is fixed to the encoder bracket 35 and connected to one end of the connecting frame 6. Undisclosed technical features in this embodiment are the same as in specific embodiment three.

[0030] The coupling 34 is specially designed with different external dimensions at both ends. The smaller end can be inserted into the rolling bearing 33 and connected to the motor shaft of the servo motor 31, while the larger end is outside the rolling bearing 33 and connected to the connecting shaft of the connecting bracket 6.

[0031] Specific implementation method seven: Combining Figures 1 to 3 In this embodiment, a connecting shaft is vertically inserted and fixed to one end of the connecting frame 6. The connecting shaft is inserted into the encoder bracket 35. The upper end of the coupling 34 is connected to the lower end of the connecting shaft, and the absolute encoder 36 is connected to the upper end of the connecting shaft. The undisclosed technical features in this embodiment are the same as in specific embodiment six.

[0032] Specific implementation method eight: Combination Figures 1 to 3 This embodiment describes an arc-shaped slide rail mechanism 5 comprising a slider 51 and an arc-shaped guide rail 52. The arc-shaped guide rail 52 is fixedly connected to the upper end face of the slide rail base 13 and is disposed inside the arc-shaped circular hole matrix 14. The slider 51 is fixedly connected to the lower end face of the other end of the connecting frame 6. A sliding groove is formed on the lower end face of the slider 51, which is fitted onto the outer side of the arc-shaped guide rail 52 and slidably connected along the length of the arc-shaped guide rail 52. The undisclosed technical features in this embodiment are the same as those in specific embodiment three.

[0033] Specific Implementation Method Nine: Combining Figures 1 to 3This embodiment describes an elbow support 2 comprising a support rod 21 and an elbow support 22. The support rod 21 is vertically fixed to the upper surface of the motor base 12, and the elbow support 22 is fixed to the upper end of the support rod 21. The undisclosed technical features in this embodiment are the same as in specific embodiment three.

[0034] The sub-bracket 8 includes a sub-bracket 81 and a sub-elbow support 82. The sub-bracket 81 is vertically fixed to the upper end surface of the extension frame 7, and the sub-elbow support 82 is fixed to the upper end of the sub-bracket 81.

[0035] Elbow support 2 and sub-support 8 are used to place the subject's arm.

[0036] Specific Implementation Method Ten: Combining Figures 1 to 3 In this embodiment, the lower end of the main handle 4 is provided with a locking bolt, and the middle part of the connecting frame 6 is provided with an oblong hole 61 along the length direction. The main handle 4 is vertically arranged at the upper end of the oblong hole 61, the locking bolt is inserted into the oblong hole 61, and the nut of the locking bolt is located at the lower end of the oblong hole 61. The undisclosed technical features in this embodiment are the same as those in specific embodiment one.

[0037] The locking bolt is used to lock and fix the main handle at position 4.

[0038] The structure of the secondary handle 9 is the same as that of the main handle 4. The lower end of the secondary handle 9 is provided with a secondary locking bolt, and the middle part of the extension frame 7 is provided with a secondary waist-shaped elongated hole 71 along the length direction. The secondary handle 9 is vertically set at the upper end of the secondary waist-shaped elongated hole 71, and the secondary locking bolt is inserted into the secondary waist-shaped elongated hole 71. The nut of the secondary locking bolt is set at the lower end of the secondary waist-shaped elongated hole 71 to achieve locking and fixing of the position of the secondary handle 9.

[0039] The main handle 4 and the secondary handle 9 are designed for easy hand gripping and their positions can be adjusted forward and backward according to hand position.

[0040] Working principle

[0041] This device integrates three functions: wrist and elbow joint proprioceptive function training, proprioceptive evaluation, and sensorimotor function evaluation.

[0042] For assessments or training of the wrist joint, the extension frame 7 and its auxiliary handle 9 and auxiliary bracket 8 do not need to be installed. Before the experiment, the subject should place the forearm naturally on the elbow support 2 above the connecting frame 6, with the wrist joint position coaxial with the motor shaft, and adjust the position of the main handle 4 and hold it in their hand. For assessments or training of the elbow joint, the extension frame 7 and its auxiliary handle 9 and auxiliary bracket 8 need to be installed, and the main handle 4 on the connecting frame 6 should be removed. At this time, the upper arm should be placed naturally on the elbow support 2 above the connecting frame 6, and the forearm should be placed naturally on the auxiliary bracket 8 above the extension frame 7, with the elbow joint position coaxial with the motor shaft, and the position of the auxiliary handle 9 above the extension frame 7 should be adjusted and held in their hand.

[0043] This device connects the servo motor 31 and the absolute encoder 36 via a controller, enabling closed-loop control for accurate angle changes. The controller also provides real-time feedback on angle changes and can compare the angle readings from the circular holes on the slide rail 13 with those from the absolute encoder 36 for calibration and verification. If the subject needs to rotate the rail manually, the servo motor 31 is de-energized to ensure no external resistance during rotation. In this case, the angle information is fed back via the absolute encoder 36. The device uses the servo motor 31 to set the centerline of the arc-shaped guide rail 52 as its origin, returning to this origin each time power is applied.

[0044] During proprioceptive function training, the servo motor 31 is de-energized, and the controller display screen provides feedback on the subject's rotation angle. The subject can use this feedback to achieve the purpose of precise training.

[0045] During proprioceptive assessment, servo motor 31 is powered on, and the angle displayed on the controller screen is only visible to the experimenter. The experimenter sets the "target position" angle, while the "comparison position" is always greater than the "target position." The "target position" is a fixed value, while the "comparison position" changes continuously based on the subject's responses. Both positions are passively moved by the motor. After dozens of tasks, the minimum discrimination threshold is calculated by comparing the difference between the two positions and combining it with a function algorithm.

[0046] During sensorimotor function assessment, both the servo motor 31 and the absolute encoder 36 are powered on, and the angle feedback displayed on the controller screen is only visible to the experimenter. The experimenter sets the angle, direction, and speed for each experimental task via the controller. The device is first passively moved to the "target position," then the servo motor 31 is de-powered, and the subject actively moves to the "matching position" based on their positional memory. The motion accuracy error is calculated by comparing the differences.

[0047] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An intelligent, high-resolution upper limb proprioceptive assessment and training device, characterized in that: It includes a base (1), an elbow bracket (2), a motor encoder (3), a main handle (4), an arc-shaped slide rail mechanism (5), and a connecting frame (6). The elbow bracket (2) is fixed to one side of the upper surface of the base (1). The motor encoder (3) is located in front of the elbow bracket (2). The output shaft of the motor encoder (3) is fixed to one end of the connecting frame (6). The arc-shaped slide rail mechanism (5) is located between the lower end of the other end of the connecting frame (6) and the other side of the upper surface of the base (1). The main handle (4) is located in the middle of the upper surface of the connecting frame (6) and slides along the length of the connecting frame (6). The intelligent high-resolution upper limb proprioception assessment and training device further includes an extension component, which includes an extension frame (7), a sub-bracket (8), and a sub-handle (9). One end of the extension frame (7) is detachably connected to the upper surface of the other end of the connecting frame (6). The sub-bracket (8) is fixed to one end of the upper surface of the extension frame (7). The sub-handle (9) is located at the other end of the upper surface of the extension frame (7) and is slidably connected along the length of the extension frame (7). The base (1) includes a base (11), a motor base (12) and a slide rail base (13). The base (1) is horizontally arranged. The motor base (12) is fixed to the middle of the upper end face of the base (1). The slide rail base (13) is fixed to the other side of the upper end face of the base (11). Two sets of arc-shaped circular hole matrices (14) are symmetrically arranged on the upper end face of the slide rail base (13) along the width direction of the base (11). The arc-shaped circular hole matrix (14) is set with the axis of the motor encoder (3) as the center. The arc-shaped circular hole matrix (14) includes multiple groups of circular holes, which are evenly distributed along the arc direction. Each group of circular holes includes multiple circular holes evenly distributed along the radial direction. There is a 1° interval between each two adjacent groups of circular holes; The motor encoding mechanism (3) includes a servo motor (31), a motor bracket (32), a rolling bearing (33), a coupling (34), an encoder bracket (35), and an absolute encoder (36). The servo motor (31) is fixed to the lower end of the motor base (12) and embedded in the upper surface of the base (11). The motor bracket (32) is fixed to the upper end of the motor base (12). The coupling (34) is inserted into the motor bracket (32), and the motor bracket (32) and the coupling (34) are connected by the rolling bearing (33). The lower end of the coupling (34) is connected to the motor shaft of the servo motor (31), and the upper end of the coupling (34) is connected to one end of the connecting frame (6). The encoder bracket (35) is fixed above the motor bracket (32), and the absolute encoder (36) is fixed to the encoder bracket (35) and connected to one end of the connecting frame (6). A connecting shaft is vertically inserted and fixed to one end of the connecting frame (6). The connecting shaft is inserted into the encoder bracket (35). The upper end of the coupling (34) is connected to the lower end of the connecting shaft. The absolute encoder (36) is connected to the upper end of the connecting shaft. The arc-shaped slide rail mechanism (5) includes a slider (51) and an arc-shaped guide rail (52). The arc-shaped guide rail (52) is fixed to the upper end face of the slide rail seat (13) and is located inside the arc-shaped circular hole matrix (14). The slider (51) is fixed to the lower end face of the other end of the connecting frame (6). A sliding groove is provided on the lower end face of the slider (51). The sliding groove is fitted on the outer side of the arc-shaped guide rail (52) and slides along the length direction of the arc-shaped guide rail (52). The elbow support (2) includes a support rod (21) and an elbow support (22). The support rod (21) is vertically fixed to the upper surface of the motor base (12), and the elbow support (22) is fixed to the upper end of the support rod (21).

2. The intelligent high-resolution upper limb proprioceptive assessment and training device according to claim 1, characterized in that: The lower end of the main handle (4) is provided with a locking bolt, and the middle part of the connecting frame (6) is provided with an oblong hole (61) along the length direction. The main handle (4) is vertically set at the upper end of the oblong hole (61), the locking bolt is inserted into the oblong hole (61), and the nut of the locking bolt is set at the lower end of the oblong hole (61).

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