Isokinetic and isotonic muscle training equipment

Abstract

The present invention relates to an isokinetic and isotonic muscle training device, comprising a motor assembly, a compact elastic mechanism, a rope, a handle, a motor driver, a controller, and a power module; the motor assembly is connected to one end of the rope, which passes through the compact elastic mechanism and then connects to the handle; the motor driver is connected to the motor assembly; the controller connects the motor driver and the electronic components in the compact elastic mechanism; and the power module is used to power the training device. Compared with the prior art, the present invention miniaturizes the originally large isokinetic and isotonic training device. Through the rational design of components and structures, it can achieve the same functions as large isokinetic devices while achieving portability, realizing isokinetic and isotonic muscle training functions in a small size at the bedside.

Description

Technical Field

[0001] The invention relates to a training device, in particular to an isokinetic and isotonic muscle strength training device. Background Art

[0002] During the post-operative recovery period, stroke patients need to begin rehabilitation training as quickly as possible, tailored to their condition, to achieve the best possible recovery. The earlier rehabilitation training begins, the better the outcome. Modern rehabilitation theory and practice demonstrate that effective rehabilitation training can reduce functional disability rates, improve mobility on the affected side, and increase patient satisfaction with treatment. Currently, the most common training equipment is strength training equipment, such as dumbbells and pull-up bars.

[0003] For example, training with dumbbells involves overcoming the weight of the dumbbells to build muscle. Dumbbells are generally heavy, making them dangerous for newly recovered patients. Alternatively, training with elastic resistance ropes involves applying force to the patient through deformation, making it difficult to control the force. Furthermore, these common methods all store potential energy during training, which can be dangerous.

[0004] In recent years, the emergence of isokinetic exercise equipment in the fields of sports medicine and rehabilitation medicine has effectively addressed safety concerns. Its characteristic is that it provides a torque corresponding to the force applied by the patient, while maintaining a constant speed during the process. This method greatly reduces the risk of muscle training. However, the equipment used to achieve isokinetic exercise is generally complex, bulky, and expensive. During the stroke recovery period, the earlier rehabilitation training is initiated, the better the recovery effect. However, stroke patients have difficulty moving in the early stages of recovery and find it difficult to move to isokinetic training equipment. Summary of the Invention

[0005] The purpose of the present invention is to provide an isokinetic and isotonic muscle training device in order to overcome the defects of the above-mentioned prior art.

[0006] The purpose of the present invention can be achieved by the following technical solutions:

[0007] An isokinetic and isotonic muscle training device includes a motor assembly, a compact elastic mechanism, a rope, a handle, a motor driver, a controller, and a power module;

[0008] The motor assembly is connected to one end of the rope, the rope is connected to the handle after passing through the compact elastic mechanism, the motor driver is connected to the motor assembly, the controller is connected to the motor driver and the electronic components in the compact elastic mechanism, and the power module is used to power the training device.

[0009] Furthermore, the motor assembly includes: a motor and a reduction gearbox, a motor fixing flange, a stranded wire hub, a motor base, a hub bottom end bearing, a hub end bearing and a retaining spring;

[0010] The motor and the reduction gearbox are mounted on the motor base via a motor fixing flange, the output shafts of the motor and the reduction gearbox are connected to the stranded wire hub, the stranded wire hub is arranged in the motor base, the bottom end of the stranded wire hub is connected to the motor base via a hub bottom end bearing, and the end of the stranded wire hub is connected to the motor base via a hub end bearing;

[0011] The hub end bearing is arranged at the end of the stranded wire hub away from the motor and the reduction box. The retaining spring is installed on the motor base and presses the end of the hub end bearing to limit the axial position of the stranded wire hub. The rope is fixed on the stranded wire hub and wound around the stranded wire hub.

[0012] Furthermore, the stranding wheel hub has a groove structure for accommodating an end of a fixed rope.

[0013] Furthermore, the compact elastic mechanism includes a pulley block bracket, a linear guide rail, a linear guide slider, a pulley base, a movable pulley, an output fixed pulley, an input fixed pulley, a split roller, a linear displacement sensor, a winding member, a torsion spring and a connecting rope;

[0014] The linear guide rail is mounted on the pulley block bracket, the linear guide slider is slidably mounted on the linear guide rail, the pulley base is mounted on the linear guide slider, the movable pulley is mounted on the pulley base, the linear displacement sensor is mounted on the pulley block bracket, the linear displacement sensor is configured to detect the displacement of the linear guide slider on the linear guide rail, and the controller is connected to the linear displacement sensor;

[0015] The output fixed pulley and the input fixed pulley are coaxially fixed to the pulley block bracket using the same pin, the installation posture of the movable pulley is perpendicular to the installation posture of the output fixed pulley and the input fixed pulley, the rope extends from the motor assembly, passes through the input fixed pulley from top to bottom, and then wraps around the movable pulley, and then extends from the movable pulley through the bottom end of the output fixed pulley to the compact elastic mechanism, the split roller is fixed to the pulley block bracket using a pin and is located below the output fixed pulley and the input fixed pulley, and the split roller is used to limit the rope;

[0016] The winding piece and the torsion spring are installed on the pulley group bracket at one end away from the output fixed pulley and the input fixed pulley using the same pin, and do not interfere with the sliding of the linear guide slider on the linear guide slide. The winding piece is rotatably installed on the pulley group bracket, and the two ends of the connecting rope are respectively connected to the winding piece and the pulley base, and the two ends of the torsion spring are respectively connected to the winding piece and the pulley group bracket. When the linear guide slider is away from the winding piece, the connecting rope further pulls the winding piece to rotate, and the potential energy of the torsion spring increases.

[0017] Furthermore, the pulley block bracket and the winding member are provided with a blind hole structure, which cooperates with the pin to position the torsion spring.

[0018] Furthermore, the winding member has a concave rotating structure for accommodating a rope, and a groove structure is provided on the winding member for accommodating an end of a fixed connecting rope. The movable pulley, the input fixed pulley, and the output fixed pulley have concave rotating structures for accommodating a rope, and the bottoms of the concave rotating structures of the input fixed pulley and the output fixed pulley are aligned with the concave rotating structure of the movable pulley, and the spacing between the concave rotating structures of the input fixed pulley and the output fixed pulley is adapted to the diameter of the concave rotating structure of the movable pulley.

[0019] Furthermore, it also includes a shell, which includes an upper shell and a lower shell, and the upper shell and the lower shell form a accommodating space. The upper shell also has an opening for the entry and exit of the rope, and the motor assembly, compact elastic mechanism, rope, handle, motor driver, controller and power module are placed in the accommodating space.

[0020] Furthermore, the housing is provided with a connector for fixing the training device to other equipment or objects.

[0021] Furthermore, in the isokinetic training mode, the controller uses the following control methods: the terminal velocity outer loop uses anti-disturbance control, and the current inner loop uses PI control. At the same time, it compensates for the torque influence, speed influence, and position change of the compact elastic mechanism caused by random force changes on the user's arm during training, thereby achieving precise control of the speed of the rope at the end of the elastic structure.

[0022] Furthermore, in the isotonic training mode, the controller uses the following control methods: the outer loop of the terminal tension uses PID control, the inner loop of the current uses PI control, and at the same time compensates for the friction force existing in the movement of the movable pulley in the compact elastic mechanism, thereby achieving precise control of the tension of the rope at the end of the elastic structure.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] The present invention miniaturizes the originally huge isokinetic and isotonic training equipment. Through the rational design of components, structure and function, it can achieve the same functions as large isokinetic equipment while achieving portability, and realize the isokinetic and isotonic muscle strength training function in a small size at the bedside. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the structure of the parts of the present invention;

[0026] Figure 2 This is a schematic diagram of the internal structure of the present invention after the outer shell is removed;

[0027] Figure 3 This is a cross-sectional view of the motor and stranded wire structure of the present invention;

[0028] Figure 4 It is a cross-sectional view of the structure of the compact elastic mechanism of the present invention;

[0029] Figure 5 This is the control flow chart in constant speed mode;

[0030] Figure 6 This is the control flow chart in isotonic mode;

[0031] Figure 7 Schematic diagram of the control system of the present invention;

[0032] Reference numerals: 1. motor assembly, 2. compact elastic mechanism, 3-1. upper housing, 3-2. lower housing, 4. rope, 5. handle, 6. motor driver, 7. controller, 8. power module;

[0033] 1-1, motor and reduction gearbox, 1-2, motor fixing flange, 1-3, stranded wire hub, 1-4, motor base, 1-5, hub bottom bearing, 1-6, hub end bearing, 1-7, retaining spring;

[0034] 2-1. Pulley assembly bracket, 2-2. Linear guide rail, 2-3. Linear guide slider, 2-4. Pulley base, 2-5. Movable pulley, 2-6. Output fixed pulley, 2-7. Input fixed pulley, 2-8. Split roller, 2-9. Linear displacement sensor, 2-10. Winding element, 2-11. Torsion spring, 2-12. Connecting rope. DETAILED DESCRIPTION

[0035] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operating process. Obviously, the described embodiment is only an embodiment of a part of the present invention, not all embodiments, and the protection scope of the present invention is not limited to the following embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of the present invention.

[0036] In the drawings, components with identical structures are denoted by the same reference numerals, and components with similar structures or functions are denoted by similar reference numerals. The dimensions and thicknesses of each component shown in the drawings are arbitrary and are not limited by the present invention. To enhance clarity and illustrate the coordination between components, some components in the drawings are scaled, and the distances between components are increased or decreased.

[0037] In the description of the embodiments of the present application, it should be understood that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the product of the application is conventionally placed when in use, or are the orientations or positional relationships conventionally understood by those skilled in the art. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0038] Furthermore, the terms “first,” “second,” “third,” etc., are merely used for distinguishing descriptions and are not to be understood as indicating or implying relative importance.

[0039] In the description of the embodiments of the present application, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0040] Example 1:

[0041] An isokinetic and isotonic muscle training device, such as Figure 1 、 Figure 2As shown, it includes a motor assembly 1, a compact elastic mechanism 2, a rope 4, a handle 5, a motor driver 6, a controller 7, and a power module 8; wherein the motor assembly 1 is connected to one end of the rope 2-12 rope 4, the rope 4 passes through the compact elastic mechanism 2 and is connected to the handle 5, the motor driver 6 is connected to the motor assembly 1, the controller 7 connects the motor driver 6 and the electronic components in the compact elastic mechanism 2, and the power module 8 is used to power the training device. In addition, it also includes a housing, which includes an upper shell 3-1 and a lower shell 3-2. The upper shell 3-1 and the lower shell 3-2 form a storage space, and the upper shell 3-1 also has an opening for the rope 4 to enter and exit. The motor assembly 1, the compact elastic mechanism 2, the rope 4, the handle 5, the motor driver 6, the controller 7, and the power module 8 are placed in the storage space.

[0042] The power module 8 can be a detachable battery that can be replaced after the battery is exhausted. In addition, a voltage conversion device can also be provided to use an external power supply so that it can work for a long time without charging.

[0043] Among them, such as Figure 3 As shown, the motor assembly 1 includes: a motor and reduction box 1-1, a motor fixing flange 1-2, a stranded wire hub 1-3, a motor base 1-4, a hub bottom end bearing 1-5, a hub end bearing 1-6 and a retaining spring 1-7; the motor and reduction box 1-1 is mounted on the motor base 1-4 through the motor fixing flange 1-2, the output shaft of the motor and reduction box 1-1 is connected to the stranded wire hub 1-3, the stranded wire hub 1-3 is arranged in the motor base 1-4, and the bottom end of the stranded wire hub 1-3 is connected to the hub The bottom bearing 1-5 is connected to the motor base 1-4, and the end of the stranded wire hub 1-3 is connected to the motor base 1-4 through the hub end bearing 1-6; the hub end bearing 1-6 is arranged at the end of the stranded wire hub 1-3 away from the motor and the reduction box 1-1, and the retaining spring 1-7 is installed on the motor base 1-4 and presses the end of the hub end bearing 1-6 to limit the axial position of the stranded wire hub 1-3. The rope 4 is fixed on the stranded wire hub 1-3 and is wound on the stranded wire hub 1-3.

[0044] Specifically, the motor driver 6 is fixed to the inner cavity of the shell and is electrically connected to the motor and the reducer 1-1. The controller 7 is connected to the motor driver 6 and is used to control the output of the motor and the reducer 1-1. The output force and output speed of the motor and the reducer 1-1 are controllable. The output shaft of the motor and the reducer 1-1 drives the stranding hub 1-3 to rotate. The stranding hub 1-3 has a groove structure for accommodating the end of the fixed rope 4. The rope 4 is fixed on the stranding hub 1-3. As the stranding hub 1-3 rotates, the rope 4 is wound around or released on the stranding hub 1-3.

[0045] like Figure 4As shown, the compact elastic mechanism 2 (elastic structure) includes a pulley block bracket 2-1, a linear guide rail 2-2, a linear guide slider 2-3, a pulley base 2-4, a movable pulley 2-5, an output fixed pulley 2-6, an input fixed pulley 2-7, a split roller 2-8, a linear displacement sensor 2-9, a winding member 2-10, a torsion spring 2-11 and a connecting rope 2-12; the linear guide rail 2-2 is installed on the pulley block bracket 2-1, the linear guide slider 2-3 is slidably installed on the linear guide rail 2-2, the pulley base 2-4 is installed on the linear guide slider 2-3, and the movable slider The wheel 2-5 is installed on the pulley base 2-4, and the linear displacement sensor 2-9 is installed on the pulley block bracket 2-1. The linear displacement sensor 2-9 is configured to detect the displacement of the linear guide slider 2-3 on the linear guide rail 2-2. The controller 7 is connected to the linear displacement sensor 2-9. The linear displacement sensor 2-9 is fixed inside the pulley block bracket 2-1 to reduce space occupation and match the installation and working range of the movable pulley 2-5; the output fixed pulley 2-6 and the input fixed pulley 2-7 are coaxially fixed to the pulley block bracket 2-1 using the same pin, and the movable pulley 2-5 The installation posture is perpendicular to the installation posture of the output fixed pulley 2-6 and the input fixed pulley 2-7. The rope 4 extends from the motor assembly 1, passes through the input fixed pulley 2-7 from top to bottom, and then wraps around the movable pulley 2-5. Then, it extends from the movable pulley 2-5 through the bottom end of the output fixed pulley 2-6 and extends out of the compact elastic mechanism 2. The split roller 2-8 is fixed to the pulley block bracket 2-1 with a pin and is located below the output fixed pulley 2-6 and the input fixed pulley 2-7. The split roller 2-8 is used to limit the rope 4; the winding member 2-10 and the torsion spring 2-11 are installed on the pulley block bracket using the same pin. 2-1 is away from one end of the output fixed pulley 2-6 and the input fixed pulley 2-7, and does not interfere with the sliding of the linear guide slider 2-3 on the linear guide rail 2-2. The winding member 2-10 is rotatably mounted on the pulley block bracket 2-1, and the two ends of the connecting rope 2-12 are respectively connected to the winding member 2-10 and the pulley base 2-4, and the two ends of the torsion spring 2-11 are respectively connected to the winding member 2-10 and the pulley block bracket 2-1. When the linear guide slider 2-3 is away from the winding member 2-10, the connecting rope 2-12 further pulls the winding member 2-10 to rotate, and the potential energy of the torsion spring 2-11 increases.

[0046] The pulley block bracket 2-1 and the winding member 2-10 have a blind hole structure, which cooperates with the pin to position the torsion spring 2-11. When the winding member 2-10 rotates relative to the pulley block bracket 2-1, the potential energy of the torsion spring 2-11 will change.

[0047] The winding member 2-10 has a concave rotating structure for accommodating the rope 4. The winding member 2-10 is provided with a groove structure for accommodating the end of the fixed connecting rope 2-12. The movable pulley 2-5, the input fixed pulley 2-7, and the output fixed pulley 2-6 have a concave rotating structure for accommodating the rope 4. The bottoms of the concave rotating structures of the input fixed pulley 2-7 and the output fixed pulley 2-6 are aligned with the concave rotating structure of the movable pulley 2-5, and the spacing between the concave rotating structures of the input fixed pulley 2-7 and the output fixed pulley 2-6 is adapted to the diameter of the concave rotating structure of the movable pulley 2-5.

[0048] Specifically, the controller 7 is connected to the linear displacement sensor 2-9 to obtain the displacement of the linear guide slider 2-3 (movable pulley 2-5) on the linear guide rail 2-2, thereby calculating the potential energy of the torsion spring 2-11 and controlling the motor. In the compact elastic mechanism 2 described above, the linear guide slider 2-3 is fixed to the pulley block bracket 2-1 by bolts, the pulley base 2-4 is also fixed to the linear guide slider 2-3 by bolts, and the movable pulley 2-5 is fixed to the pulley base 2-4 by a retaining spring.

[0049] The linear displacement sensor 2-9 is electrically connected to the controller 7 and can be a potentiometric sensor, photoelectric sensor, inductive sensor, or other suitable sensor. The linear displacement sensor 2-9 enables the CPU to accurately determine the position of the movable pulley 2-5, thereby further precisely controlling the tension and movement speed of the rope 4. Furthermore, the controller 7 can also calculate the extended distance of the rope 4 by accumulating or calculating the rotor angle using the Hall effect sensor on the motor. The extended distance of the rope 4 and the torque of the motor can be used to further calculate the patient's movement.

[0050] In the embodiment of the present application, the pulley block bracket 2-1, the movable pulley 2-5, the output fixed pulley 2-6 and the input fixed pulley 2-7 form a special routing path, so that the output fixed pulley 2-6 and the input fixed pulley 2-7 are fixed uniformly and work independently of each other, thereby reducing space occupancy; the movable pulley 2-5 is arranged between the input fixed pulley 2-7 and the output fixed pulley 2-6, and the concave rotating structure of the movable pulley 2-5 is coaxial with the concave rotating structures of the output fixed pulley 2-6 and the input fixed pulley 2-7, respectively. The installation posture of the movable pulley 2-5 is normal to the output fixed pulley 2-6 and the input fixed pulley 2-7, so that the routing paths are parallel to each other, thereby reducing the routing length and the space required for routing.

[0051] The power source of the compact elastic mechanism 2 is the winding member 2-10 fixed to the end of the pulley bracket 2-1 and driven by the torsion spring 2-11. Compared with the common solution of using a linear spring as a flexible structure, this design reduces the length and volume and is easy to carry.

[0052] The motor base 1-4 and the pulley block bracket 2-1 can be fixed to the housing, or the motor base 1-4 and the pulley block bracket 2-1 can be fixedly connected by screws, etc., and the pulley block bracket 2-1 can be fixed to the housing. The opening in the housing needs to be adapted to fit the output fixed pulley 2-6 in the compact elastic mechanism 2, and the opening for entering and exiting the rope 4 is coaxial with the arc portion of the concave rotating structure of the output fixed pulley 2-6.

[0053] In the embodiment of the present application, the lower shell 3-2 serves as a bottom plate, and the upper shell 3-1 is a box-type structure with a cavity. In the embodiment of the present application, the upper shell 3-1 and the lower shell 3-2 are buckled together along the bottom extension surface of the motor base 1-4. Connectors are also provided on the housing for fixing the training device to other equipment or objects. The connectors can be buckles and / or bolt holes. For example, buckles and / or bolt holes are provided on the upper shell 3-1. The buckles are used to connect to rope-like objects, such as threading with ropes, and the bolt holes are used to directly fix the present invention to external objects, such as walls, with bolts. In other embodiments, different connectors can also be provided at different positions of the housing as needed.

[0054] The present invention adopts a motor as a traction device, takes advantage of the controllability of the existing motor torque and speed, and combines it with a compact elastic mechanism 2 to ensure safety while varying the pulling force and speed according to the actual needs of the patient, resulting in better training effects, a lightweight structure, and convenient bedside use.

[0055] Compared to existing devices, this invention miniaturizes the previously bulky isokinetic and isotonic training equipment. Through optimized component and structural design, it achieves portability while delivering the same functionality as larger isokinetic devices, enabling isokinetic and isotonic muscle training at the bedside in a compact package. Its compact size and ease of use allow patients to begin bedside training as quickly as possible.

[0056] The controller 7 controls the output torque and speed of the motor and the reduction box 1-1 in real time according to the displacement of the linear guide slider 2-3 (movable pulley 2-5) on the linear guide rail 2-2. In the embodiment of the present application, training modes such as isokinetic concentric, isokinetic eccentric, isometric, and isotonic are provided.

[0057] The control principle of isokinetic training mode is Figure 5 As shown in the flow chart.

[0058] In constant speed training mode, the terminal velocity outer loop uses anti-disturbance control. With a specified velocity as input, the algorithm calculates the current required to achieve the specified speed. The inner loop's PID control algorithm converts this current information into a voltage applied to the motor. The back electromotive force generated during motor operation is offset by information fed back to the inner current control loop. Specifically, the current control feedback signal is obtained via a Hall effect sensor installed in each phase of the brushless DC motor.

[0059] During training, external disturbances and the movement of the mechanism itself may cause deformation of the elastic structure. This deformation information reflects the occurrence of velocity disturbances and torque-induced force disturbances during training. This information can be fed back to the outer speed control loop via a displacement sensor to offset them. By compensating for the torque effects, velocity effects, and positional changes of the elastic mechanism 2 caused by random force variations on the user's arm during training, precise control of the speed of the elastic structure's end rope 4 can be achieved.

[0060] The core formula of the active disturbance rejection control method used in its speed outer loop is:

[0061] Second-order nonlinear extended state observer:

[0062]

[0063] Among them, z 21 Tracking value representing the system status, z 22 is the perturbed observation value, represents z 21 、z 22 The corresponding differential, ε 01 represents the tracking error value, S represents the actual state value of the system, β 01 , β 02 represents the error feedback gain coefficient, α 01 , α 02 is the nonlinear factor, δ 01 , δ 02 is the filter factor, b0 is the system control gain, u represents the output, and fal(,,) is a nonlinear function;

[0064] Nonlinear state error feedback control law:

[0065]

[0066] Among them, ε1 is the error value, u0 is the output of the nonlinear state error feedback control law, β1 represents the error feedback gain coefficient, α1 is the nonlinear factor, and δ1 is the nonlinear system filter factor;

[0067] Nonlinear functions:

[0068]

[0069] Among them, x is the input, α is the nonlinear factor, and δ is the filter factor.

[0070] The control principle of its isotonic training mode is Figure 6 As shown in the flow chart.

[0071] In isometric training mode, the outer loop of the end-tension system uses a PID control algorithm. The input is a specified force. The PID control algorithm generates the current required to achieve the specified speed. This current information is then converted into a voltage applied to the motor via the inner loop's PID control algorithm. The back EMF generated during motor operation is offset by feedback in the inner current control loop. Specifically, the current control feedback signal is obtained via a Hall effect sensor installed in each phase of the brushless DC motor.

[0072] During training, the user's applied force causes the elastic structure to deform. This deformation reflects the tension in the rope, which is then fed back to the outer tension control loop via a displacement sensor. Finally, the tension is friction-compensated before output, ensuring that the output tension matches the given force command.

[0073] The core formula of the PID control method used in its tension outer loop is:

[0074] PID:

[0075]

[0076] Among them, u(t) is the output signal, K p is the proportional control parameter, K i is the integral control parameter, K d is the differential control parameter, e(t) is the input signal;

[0077] Friction compensation:

[0078]

[0079]

[0080]

[0081]

[0082] Among them, a, b, c are shape parameters, ξ is the deformation length, k is the spring constant, F c1 、F c2 is the corrected rope drive tension.

[0083] In addition, the controller 7 can also be provided with a memory to realize the data recording function of recording the patient's usage status and the training data collection function, so as to facilitate the early rehabilitation training of stroke patients at the bedside as soon as possible. The controller 7 can collect training data simultaneously during muscle strength training to assist in training evaluation, including: peak torque, peak torque to body weight ratio, peak torque corresponding angle, total power, average power, which is convenient for statistical analysis of the patient's training effect. Through these muscle strength evaluation indicators, the muscle strength of the trained muscle group, the explosive power characteristics of the muscle, the endurance of the muscle, the degree of muscle fatigue, etc. can be reflected to assist in guiding rehabilitation training.

[0084] A communication module can also be added to the controller 7, such as Figure 7 As shown, in conjunction with a mobile device equipped with a client, a wireless communication function of connecting a patient's mobile phone and / or computer and / or cloud server can be realized. The mobile device can be a mobile phone, a tablet, a computer, etc. The client program can be run on a mobile device or a computer, and the mobile device or computer equipped with the client program can directly connect to the training device via Bluetooth, NFC or WIFI. Through the mobile device, a variety of data and control signals can be sent to the controller 7, including but not limited to the torque change curve in isokinetic training, the tension value in isotonic training, the speed switch and the sleep command, and the voice command. The corresponding application on the patient's mobile device can receive the collected various data, including but not limited to the patient's actual training curve and current power information, which is more convenient to use.

[0085] An automatic switch function can also be set. The controller 7 can control the motor and reducer 1-1 to automatically start working when the patient pulls the stranded wire hub 1-3 to rotate without the need for an additional switch. If the patient does not use it for a long time, it will automatically shut down or sleep.

[0086] The process of using this application is as follows:

[0087] The patient starts the training equipment by pulling the handle 5. After the training equipment starts, it will perform a self-test and emit a prompt sound after the self-test passes. At this time, the patient can select the isokinetic training mode through the client program, or directly operate on the button of the controller 7. According to the mode set by the patient, the motor driver 6 drives the motor and the reduction box 1-1 to operate. When the training equipment is not started, the patient can also start the training equipment through a mobile device installed with the client. The patient can also select the isotonic training mode through the client program and set the required tension value. The controller 7 drives the motor through the motor driver 6 according to the value set by the patient, so that the motor and the reduction box 1-1 output a specific tension.

[0088] The present invention has the following beneficial effects:

[0089] (1) It is small in size and easy to carry and use. It can easily achieve early stroke rehabilitation muscle strength training at the bedside and assist in training evaluation.

[0090] (2) The use of a compact elastic structure greatly reduces the size of the isokinetic and isotonic training equipment, further ensuring safety and ensuring reasonable output while taking into account the characteristics of lightness, small size, and convenience for bedside use.

[0091] (3) The control of the isokinetic training mode uses anti-disturbance control in the outer loop of the terminal speed and PI control in the inner loop of the current. At the same time, it compensates for the torque effect, speed effect, and position change of the elastic structure caused by the random force changes on the arm during training, thereby achieving precise control of the terminal speed of the elastic structure.

[0092] (4) The control of the isometric training mode uses PID control for the outer loop of the terminal tension and PI control for the inner loop of the current. At the same time, the friction force existing in the movement of the pulley group is compensated, thereby achieving precise control of the terminal tension of the elastic structure.

[0093] (5) Training data can be collected during strength training to assist in training evaluation, reflect training effects, and assist in guiding rehabilitation training.

[0094] The above describes in detail the preferred embodiments of the present invention. It should be understood that those skilled in the art can make numerous modifications and variations based on the concepts of the present invention without inventive effort. Therefore, any technical solutions that can be derived by those skilled in the art through logical analysis, reasoning, or limited experimentation based on the concepts of the present invention and the prior art should be within the scope of protection defined by the claims.

Claims

1. An isokinetic and isotonic muscle training device, characterized in that: Includes motor assembly, compact elastic mechanism, rope, handle, motor driver, controller and power module; The motor assembly is connected to one end of a rope, the rope passes through a compact elastic mechanism and is connected to a handle, the motor driver is connected to the motor assembly, the controller is connected to the motor driver and electronic components in the compact elastic mechanism, and the power module is used to power the training device; The compact elastic mechanism includes a pulley block bracket, a linear guide rail, a linear guide slider, a pulley base, a movable pulley, an output fixed pulley, an input fixed pulley, a split roller, a linear displacement sensor, a winding member, a torsion spring and a connecting rope; The linear guide rail is mounted on the pulley block bracket, the linear guide slider is slidably mounted on the linear guide rail, the pulley base is mounted on the linear guide slider, the movable pulley is mounted on the pulley base, the linear displacement sensor is mounted on the pulley block bracket, the linear displacement sensor is configured to detect the displacement of the linear guide slider on the linear guide rail, and the controller is connected to the linear displacement sensor; The output fixed pulley and the input fixed pulley are coaxially fixed to the pulley block bracket using the same pin, the installation posture of the movable pulley is perpendicular to the installation posture of the output fixed pulley and the input fixed pulley, the rope extends from the motor assembly, passes through the input fixed pulley from top to bottom, and then wraps around the movable pulley, and then extends from the movable pulley through the bottom end of the output fixed pulley to the compact elastic mechanism, the split roller is fixed to the pulley block bracket using a pin and is located below the output fixed pulley and the input fixed pulley, and the split roller is used to limit the rope; The winding piece and the torsion spring are installed on the pulley group bracket at one end away from the output fixed pulley and the input fixed pulley using the same pin, and do not interfere with the sliding of the linear guide slider on the linear guide slide. The winding piece is rotatably installed on the pulley group bracket, and the two ends of the connecting rope are respectively connected to the winding piece and the pulley base, and the two ends of the torsion spring are respectively connected to the winding piece and the pulley group bracket. When the linear guide slider is away from the winding piece, the connecting rope further pulls the winding piece to rotate, and the potential energy of the torsion spring increases.

2. The isokinetic and isotonic muscle training device according to claim 1, characterized in that: The motor assembly includes: a motor and a reduction gearbox, a motor fixing flange, a stranded wire hub, a motor base, a hub bottom end bearing, a hub end bearing and a retaining spring; The motor and the reduction gearbox are mounted on the motor base via a motor fixing flange, the output shafts of the motor and the reduction gearbox are connected to the stranded wire hub, the stranded wire hub is arranged in the motor base, the bottom end of the stranded wire hub is connected to the motor base via a hub bottom end bearing, and the end of the stranded wire hub is connected to the motor base via a hub end bearing; The hub end bearing is arranged at the end of the stranded wire hub away from the motor and the reduction box. The retaining spring is installed on the motor base and presses the end of the hub end bearing to limit the axial position of the stranded wire hub. The rope is fixed on the stranded wire hub and wound around the stranded wire hub.

3. The isokinetic and isotonic muscle training device according to claim 2, characterized in that: The stranding wheel hub has a groove structure for accommodating an end of a fixed rope.

4. The isokinetic and isotonic muscle training device according to claim 1, characterized in that: The pulley block bracket and the winding member are provided with a blind hole structure, which cooperates with the pin to position the torsion spring.

5. The isokinetic and isotonic muscle training device according to claim 1, characterized in that: The winding member has a concave rotating structure for accommodating a rope, and a groove structure is provided on the winding member for accommodating an end of a fixed connecting rope. The movable pulley, the input fixed pulley, and the output fixed pulley have concave rotating structures for accommodating a rope, and the bottoms of the concave rotating structures of the input fixed pulley and the output fixed pulley are aligned with the concave rotating structure of the movable pulley, and the spacing between the concave rotating structures of the input fixed pulley and the output fixed pulley is adapted to the diameter of the concave rotating structure of the movable pulley.

6. The isokinetic and isotonic muscle training device according to claim 1, characterized in that: It also includes a shell, which includes an upper shell and a lower shell. The upper shell and the lower shell form a storage space. An opening for the rope to enter and exit is also reserved on the upper shell. The motor assembly, compact elastic mechanism, rope, handle, motor driver, controller and power module are placed in the storage space.

7. The isokinetic and isotonic muscle training device according to claim 6, characterized in that: The shell is also provided with a connecting piece for fixing the training device to other equipment or objects.

8. The isokinetic and isotonic muscle training device according to claim 1, characterized in that: In the isokinetic training mode, the controller uses the following control methods: the outer loop of the terminal velocity uses anti-disturbance control, and the inner loop of the current uses PI control. At the same time, it compensates for the torque effect, speed effect, and position change of the compact elastic mechanism caused by random force changes on the user's arm during training, thereby achieving precise control of the speed of the rope at the end of the elastic structure.

9. The isokinetic and isotonic muscle training device according to claim 1, characterized in that: In isometric training mode, the controller uses PID control for the outer loop of the terminal tension and PI control for the inner loop of the current. It also compensates for the friction in the movement of the movable pulley in the compact elastic mechanism, achieving precise control of the tension in the rope at the end of the elastic structure.

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