Stroke passive training device

Abstract

The application discloses a stroke passive training instrument, which comprises a moving support, first and second leg training connecting rod groups, first and second arm training connecting rod groups and a back adjusting connecting rod group, wherein the first leg training connecting rod group and the first arm training connecting rod group are located on one limb side, the second leg training connecting rod group and the second arm training connecting rod group are located on the other limb side, the leg training connecting rod group is used for simulating the lower limb gait when walking, and the arm training connecting rod group is used for simulating the upper limb swing when walking; the first leg training connecting rod group and the second arm training connecting rod group are drivingly connected through the back adjusting connecting rod group, and the second leg training connecting rod group and the first arm training connecting rod group are drivingly connected, so that the left upper limb and the right lower limb form a linkage relationship, the left lower limb and the right upper limb form a linkage relationship, and then the rehabilitation training task of the diseased side limb driven by the healthy side limb is realized.

Description

Technical Field

[0001] This invention relates to rehabilitation training aids, and more particularly to a passive training device for stroke. Background Technology

[0002] Stroke is an acute cerebrovascular disease. After a stroke occurs, nearly 2 million brain cells die every minute, and the patient will gradually lose language, motor and cognitive abilities. It is often accompanied by symptoms such as stiffness and weakness on one side of the face, arm and leg. For patients who have already suffered a stroke, rehabilitation training can prevent the condition from worsening and help them return to a normal life.

[0003] Currently, common stroke rehabilitation equipment includes single-motor gait trainers, treadmills, assistive robots, and multi-motor exoskeletons, but these are mostly expensive and require professional maintenance. This invention proposes a passive training device suitable for stroke patients, which is compact, easy to use, safe, and has good human-machine coordination, enabling rehabilitation training tasks where the healthy limb drives the affected limb. Summary of the Invention

[0004] The purpose of this invention is to provide a passive training device for stroke patients, so as to realize the rehabilitation training task of the healthy side limb driving the diseased side limb.

[0005] Therefore, the present invention provides a passive stroke training device, including a movable support, a first leg training linkage group, a first arm training linkage group, a second leg training connecting rod, a second arm training linkage group, and a back adjustment linkage group disposed on the movable support. The first leg training linkage group and the first arm training linkage group are located on the same limb side, as are the second leg training connecting rod and the second arm training linkage group. The first leg training linkage group is used to simulate lower limb gait during walking, and the first arm training linkage group is used to simulate upper limb swing during walking. The first leg training linkage group and the second arm training linkage group are connected via the back adjustment linkage group to form a linkage relationship, and the second leg training linkage group and the first arm training linkage group are also connected to form a linkage relationship.

[0006] According to the passive stroke training device of the present invention, the first leg training linkage group and the second leg training connecting rod are used to simulate the lower limb gait when walking, and the first arm training linkage group and the second arm training linkage group are used to simulate the upper limb swing when walking. The left upper limb and the right lower limb form a linkage relationship, and the left lower limb and the right upper limb form a linkage relationship, so as to realize the rehabilitation training task of the healthy side limb driving the diseased side limb.

[0007] Compared with the prior art, the present invention has the following advantages: (1) The patient uses the training device to complete the self-passive rehabilitation training of the healthy side limb leading the diseased side limb, which is a novel design concept; (2) The leg training linkage is a Watt II type planar six-bar mechanism, which can better simulate gait and limit non-sagittal plane movement; (3) The arm training linkage is a single degree of freedom mechanism, which is easy to operate; (4) The back adjustment linkage adopts low pair cooperation, which is convenient and economical to use; (5) The patient's own strength is used as the driving force, which can improve the patient's limb coordination ability; (6) There is no motor drive, and the invention is lightweight and flexible.

[0008] This invention has the advantages of reasonable and novel structural design, good human-machine cooperation, high product economy and safety, high component rigidity and flexibility, and convenient use.

[0009] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the figures. Attached Figure Description

[0010] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0011] Figure 1 This is a schematic diagram of the overall structure of the passive training device for stroke of the present invention;

[0012] Figure 2 This is a schematic diagram of the first leg training linkage of the passive stroke training device of the present invention.

[0013] Figure 3 This is a schematic diagram of the first arm training linkage group of the passive stroke training device of the present invention.

[0014] Figure 4 This is a schematic diagram of the back adjustment linkage structure of the passive stroke training device of the present invention;

[0015] Figure 5 This is a schematic diagram of the movable support structure of the passive stroke training device of the present invention;

[0016] Figure 6 This is a schematic diagram of the first transmission branch structure of the passive stroke training device of the present invention.

[0017] Figure 7 This is a schematic diagram of the first vertical axis transmission group structure of the passive stroke training device of the present invention;

[0018] Figure 8 This is a schematic diagram of the parallel shaft transmission assembly structure of the passive stroke training device of the present invention.

[0019] Figure 9 This is a diagram showing the usage status of the passive stroke training device of the present invention.

[0020] in:

[0021] Figure 1 In the middle section: 1. First leg training linkage; 2. Second leg training linkage; 3. First arm training linkage; 4. Second arm training linkage; 5. Back adjustment linkage; 6. Moving support;

[0022] Figure 2 In the middle section: 101. Lower wheel; 102. Leg connecting rod; 103. Restraint rod; 104. Thigh auxiliary rod; 105. Lower leg auxiliary rod; 106. Lower support frame; 107. Foot auxiliary; 108. Lower limb auxiliary support;

[0023] Figure 3 In the middle section: 201. Upper swivel wheel; 202. Boom connecting rod; 203. Boom auxiliary rod; 204. Upper support frame; 205. Upper limb auxiliary support;

[0024] Figure 4 In the middle: 301. Back support frame; 302. First drive chain; 303. Second drive chain;

[0025] Figure 5 In Chinese: 401. Support frame; 402. Moving frame;

[0026] Figure 6 In the middle: 501. First vertical shaft transmission group; 502. Parallel shaft transmission group; 503. Second vertical shaft transmission group;

[0027] Figure 7 In the middle: 601. Side wheel; 602. Inner wheel; 603. Force transmission rod;

[0028] Figure 8 In the middle section: 701. Lower crank; 702. Lower slider; 703. Middle slider; 704. Upper crank; 705. Upper slider. Detailed Implementation

[0029] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0030] It should be noted that the terms "inner side," "side side," "side end," "outer end," "bottom end," and "top end," etc., which indicate orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. Furthermore, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying importance.

[0031] like Figure 1 As shown, this passive training device includes a first leg training linkage group 1, a second leg training linkage group 2, a first arm training linkage group 3, a second arm training linkage group 4, a back adjustment linkage group 5, and a movable support 6. The first leg training linkage group 1, the back adjustment linkage group 5, and the second arm training linkage group are connected in series 4. The second leg training linkage group 2, the back adjustment linkage group 5, and the first arm training linkage group 3 are also connected in series. The aforementioned linkage groups are connected to the movable support 6.

[0032] like Figure 2 As shown, the first leg training linkage group 1 includes a lower rotating wheel 101, a leg connecting rod 102, a constraint rod 103, a thigh auxiliary rod 104, a lower leg auxiliary rod 105, a lower support frame 106, a foot auxiliary 107, and a lower limb auxiliary support 108.

[0033] The lower support frame 106 is fixed to the side of the movable support 6. The lower support frame 106 is a right-angled triangle with one right-angled side being the top side and the other right-angled side being the vertical side. It fits against the movable support 6 and serves to strengthen the structure of the movable support 6. It also has other functions. The lower support frame 106 has a lower fulcrum (the bottom of the vertical side) and an outer fulcrum (the outer end of the top side). The rotation shaft of the lower rotating wheel 101 and the lower fulcrum of the lower support frame 106 are connected by a revolute joint. The outer end of the lower rotating wheel 101 and the top end of the leg connecting rod 102 are connected by a revolute joint. The top end of the thigh auxiliary rod 104 and the outer fulcrum of the lower support frame 106 are connected by a revolute joint.

[0034] The bottom end of the thigh auxiliary rod 104 and the top end of the calf auxiliary rod 105 are connected by a revolute joint. The side end of the thigh auxiliary rod 104 and the bottom end of the leg connecting rod 102 are connected by a revolute joint. The side end of the leg connecting rod 102 and the upper end of the restraint rod 103 are connected by a revolute joint. The side end of the calf auxiliary rod 105 and the bottom end of the restraint rod 103 are connected by a revolute joint. The bottom end of the calf auxiliary rod 105 is connected to the foot auxiliary 107. The lower limb auxiliary support 108 is fixed inside the thigh auxiliary rod 104 and the calf auxiliary rod 105.

[0035] The second leg training linkage 2 and the first leg training linkage 1 have the same components, but their overall positions and the installation positions of the foot support 107 and the lower limb support 106 are different.

[0036] like Figure 3 As shown, the first arm training linkage group 3 includes an upper rotating wheel 201, an arm connecting rod 202, an arm auxiliary rod 203, an upper support frame 204, and an upper limb auxiliary support 205.

[0037] The upper support frame 204 is fixed to the side of the movable bracket 6. The upper rotating wheel 201 and the upper support frame 204 are connected by a rotating joint. The outer end of the upper rotating wheel 201 and the top end of the arm connecting rod 202 are connected by a rotating joint. The bottom end of the arm connecting rod 202 is connected to the bottom end of the arm auxiliary rod 203. The top end of the arm connecting rod 202 and the upper support frame 204 are connected by a rotating joint. The upper limb auxiliary support 205 is fixed to the inner side of the arm auxiliary rod 203.

[0038] The second arm training linkage group 4 and the first arm training linkage group 3 have the same components, but their overall positions and the installation positions of the upper limb auxiliary support 205 are different.

[0039] like Figure 4 As shown, the back adjustment linkage group 5 includes a back support frame 301, a first transmission chain 302, and a second transmission chain 303.

[0040] The back support frame 301 is fixed to the rear side of the movable support 6. The top end of the first transmission chain 302 is connected to the second arm training linkage group 4. The middle section of the first transmission chain 302 is connected to the back support frame 301. The bottom end of the first transmission chain 302 is connected to the first leg training linkage group 1. The top end of the second transmission chain 303 is connected to the first arm training linkage group 3. The middle section of the second transmission chain 303 is connected to the back support frame 301. The bottom end of the second transmission chain 303 is connected to the second leg training linkage group 2.

[0041] like Figure 5 As shown, the movable support 6 includes a support frame 401 and a movable frame 402. The bottom end of the support frame 401 and the top end of the movable frame 402 are connected. Each support frame in the passive training device is fixedly installed on the support frame 401.

[0042] like Figure 6 As shown, the first transmission branch 302 includes a first vertical shaft transmission group 501, a parallel shaft transmission group 502, and a second vertical shaft transmission group 503. The top end of the first vertical shaft transmission group 501 is connected to the bottom end of the parallel shaft transmission group 502, and the top end of the parallel shaft transmission group 502 is connected to the bottom end of the second vertical shaft transmission group 503. The first vertical shaft transmission group 501 and the second vertical shaft transmission group 503 have the same structure. The second transmission branch 303 and the first transmission branch 302 have the same components, but their overall positions are different.

[0043] like Figure 7 As shown, the first vertical shaft transmission assembly 501 includes a side wheel 601, an inner wheel 602, and a force transmission rod 603. The side wheel 601 and the force transmission rod 603 are connected by a cylindrical joint, and the inner wheel 602 and the force transmission rod 603 are connected by a cylindrical joint.

[0044] like Figure 8As shown, the parallel shaft transmission assembly 502 includes a lower crank 701, a lower slider 702, a middle slider 703, an upper crank 704, and an upper slider 705. The rotating shafts of the lower crank 701 and the upper crank 704 are connected to the back support frame 301 via a revolute joint. The middle slider 703 is connected to the back support frame 301 via a sliding joint. The side end of the lower crank 701 and the lower slider 702 are connected via a revolute joint. The side end of the upper crank 704 and the upper slider 705 are connected via a revolute joint. The lower slider 702, the upper slider 705, and the middle slider 703 are fixedly connected.

[0045] The following is combined Figure 9 The working process of the stroke training device of the present invention will be described.

[0046] With the help of themselves or an assistant, the patient will connect their limbs to the first leg training linkage group 1, the second leg training linkage group 2, the first arm training linkage group 3, and the second arm training linkage group 4. For example, the foot is placed in the foot assist 107, the lower limb is connected to the lower limb assist support 108, and the upper arm is connected to the upper limb assist support 205. If necessary, straps can be used for binding to complete the wearing of the training device.

[0047] Assuming the limb on the side of the first leg training linkage group 1 and the first arm training linkage group 3 is a healthy limb, the rehabilitation training process is as follows: the patient begins to take the first step forward, the first leg training linkage group 1 moves forward, which drives the second arm training linkage group 4 to move forward.

[0048] Specifically, the thigh bar auxiliary rod 104 in the first leg training linkage group 1 drives the leg frame rod 102 and the lower leg auxiliary rod 105 to move forward, causing the lower rotating wheel 101 to rotate clockwise, causing the side rotating wheel 601 in the first vertical shaft transmission group 501 to rotate clockwise, and the force transmission rod 603 pushes the inner rotating wheel 602 to rotate counterclockwise, causing the lower crank 701 to drive the lower slider 702 to rotate upward, pushing the middle slider 703 located on the back support frame 301 to slide upward, pushing the upper slider 705 to drive the upper crank 704 to rotate counterclockwise, and the power is transmitted to the second arm training linkage group 4 through the second vertical shaft transmission group 503 to make the linkage group move forward.

[0049] Simultaneously, the first arm training linkage group 3 moves backward, and the power is transmitted to the second leg training linkage group 2 through the second transmission chain 303 in the back adjustment linkage group 5, causing the second leg training linkage group to move backward. The patient then continues to walk forward, and the first arm training linkage group 3 and the first leg training linkage group 1 swing alternately, subsequently causing the second arm training linkage group 4 and the second leg training linkage group 2 to swing alternately, driving the movable support 6 and the back adjustment linkage group 5 to move forward.

[0050] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, substitutions, or improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A passive stroke training device, comprising a movable support (6), a first leg training linkage group (1), a first arm training linkage group (3), a second leg training linkage group (2), a second arm training linkage group (4), and a back adjustment linkage group (5) disposed on the movable support (6), wherein The first leg training link group (1) and the first arm training link group (3) are located on the same limb side, the second leg training link group (2) and the second arm training link group (4) are located on the same limb side, the first leg training link group (1) is used to simulate the lower limb gait when walking, and the first arm training link group (3) is used to simulate the upper limb swing when walking. The first leg training linkage (1) and the second arm training linkage (4) are connected by the back adjustment linkage (5) to form a linkage relationship. The second leg training linkage (2) and the first arm training linkage (3) are connected to form a linkage relationship. The first leg training linkage group (1) includes a lower support frame (106), a thigh auxiliary rod (104), a calf auxiliary rod (105), and a foot support (107). The first leg training linkage group (1) also includes a lower rotating wheel (101), a leg linkage rod (102), a restraint rod (103), and multiple lower limb auxiliary supports (108). The lower limb auxiliary supports (108) are fixed inside the thigh auxiliary rod (104) and the calf auxiliary rod (105). The lower support frame (106) is fixed to the side of the movable support (6) and has a lower fulcrum and an outer fulcrum. The lower rotating wheel (101) is set on the lower fulcrum. The top end of the thigh auxiliary rod (104) and the outer fulcrum are connected by a revolute joint. The bottom end of the thigh auxiliary rod (104) and the top end of the calf auxiliary rod (105) are connected by a revolute joint. The bottom end of the calf auxiliary rod (105) is connected to the foot auxiliary (107). The top end of the leg connecting rod (102) is connected to the outer end of the lower rotating wheel (101) via a revolute joint; the side end of the thigh auxiliary rod (104) is connected to the bottom end of the leg connecting rod (102) via a revolute joint; the side end of the leg connecting rod (102) is connected to the upper end of the constraint rod (103) via a revolute joint; and the side end of the lower leg auxiliary rod (105) is connected to the bottom end of the constraint rod (103) via a revolute joint. The second leg training linkage (2) and the first leg training linkage (1) have the same components and are arranged symmetrically on the movable support (6). The first arm training linkage group includes an upper support frame (204) and an arm auxiliary rod (203). The first arm training linkage group also includes an upper rotating wheel (201), an arm connecting rod (202), and an upper limb auxiliary support (205). The upper limb auxiliary support (205) is fixed inside the arm auxiliary rod (203). The upper support frame (204) is fixed to the side of the movable support (6) and has an outer support point and a lower support point. The rotating shaft of the upper rotating wheel (201) and the lower support point of the upper support frame (204) are connected by a revolute joint. The top end of the arm auxiliary rod (203) and the outer support point of the upper support frame (204) are connected by a revolute joint. The outer end of the upper rotating wheel (201) and the top end of the arm connecting rod (202) are connected by a revolute joint, and the bottom end of the arm connecting rod (202) and the bottom end of the arm auxiliary rod (203) are connected by a revolute joint. The back adjustment linkage assembly (5) includes a back support frame (301), a first transmission branch (302), and a second transmission branch (303). The back support frame (301) is fixed to the rear side of the movable support. The top end of the first transmission chain (302) is connected to the second arm training linkage group (4). The middle section of the first transmission chain (302) is connected to the back support frame (301). The bottom end of the first transmission chain (302) is connected to the first leg training linkage group (1). The top end of the second transmission branch (303) is connected to the first arm training linkage (3), the middle section of the second transmission branch (303) is connected to the back support frame (301), and the bottom end of the second transmission branch (303) is connected to the second leg training linkage (2).

2. The passive stroke training device according to claim 1, characterized in that, The first transmission branch (302) includes a first vertical shaft transmission group (501), a parallel shaft transmission group (502), and a second vertical shaft transmission group (503). The top end of the first vertical shaft transmission group (501) is connected to the bottom end of the parallel shaft transmission group (502), and the top end of the parallel shaft transmission group (502) is connected to the bottom end of the second vertical shaft transmission group (503). The first vertical shaft transmission group and the second vertical shaft transmission group have the same structure.

3. The passive stroke training device according to claim 2, characterized in that, The first vertical shaft transmission assembly (501) includes a side wheel (601) and an inner wheel (602), wherein the side wheel drives the inner wheel (602) in a different direction. The parallel shaft transmission assembly (502) includes a lower crank (701), an upper crank (704), a lower slider (702) driven by the lower crank (701), an upper slider (705) driven by the upper crank (704), and a middle slider (703) located between the upper slider (705) and the lower slider (702). The middle section slider (703) is connected to the back support frame (301) via a sliding pair, the lower crank (701) is driven to the inner wheel (602) in the first vertical shaft transmission group, and the upper crank (704) is driven to the inner wheel in the second vertical shaft transmission group.

4. The passive stroke training device according to claim 1, characterized in that, The movable support (6) includes a support frame (401) and a movable frame (402), with the bottom end of the support frame (401) and the top end of the movable frame (402) connected together, wherein each support frame is fixedly installed on the support frame.

Images