A multi-joint activity measurement training method and device

Abstract

The present invention relates to the technical field of upper limb training, and more specifically, to a multi-joint activity measurement training method and device, comprising a base; a display component, which is arranged on the base and comprises a touch display screen for touch control; a training component, which is arranged on the base and comprises a motor and a rotating part driven by the motor, wherein a retractable retractable part is arranged on the rotating part, and a handle for a patient to hold is arranged at the retractable end of the retractable part. The present invention calculates the increased length (S) of a ring when data detected by a sensor shows that the range of motion of the shoulder joint (Jte) is greater than the range of motion of the elbow joint (Zte), and calculates the increased amount of the rotation speed when the range of motion of the shoulder joint (Jte) is less than the range of motion of the elbow joint (Zte), that is, increases the movement speed of the motor, so that the elbow and shoulder movements are kept consistent, thereby improving the training effect on the patient's upper limbs.

Description

Technical Field

[0001] The present invention relates to the technical field of upper limb training, and more specifically, to a multi-joint activity measurement training method and device. Background Art

[0002] Joint mobility disorder refers to reduced limb movement or disuse caused by immobilization due to various reasons; or trauma, inflammation and surgery inside and outside the joint, as well as adhesions inside and outside the joint caused by muscle and tendon contracture.

[0003] At present, the commonly used multi-joint activity measurement and training methods are basically divided into visual inspection, instrument measurement and flat film measurement. The corresponding measurement equipment can be used to measure and train the multi-joint activities of the human body.

[0004] Currently, most of the multi-joint motion measurement and training methods on the market are relatively simple, only manually measuring the joint motion angle. Some equipment combines visual inspection and instrument measurement, but the measurement methods used are also separate measurement methods and independent training methods, resulting in low upper limb training effects on patients. Summary of the invention

[0005] The present invention provides a spinal Cobb angle measuring instrument, which aims to solve the problem that the related technology only measures the joint motion angle manually. Some equipment combines visual inspection and instrument measurement, but the measurement method used is also a separate measurement method and an independent training method, which leads to the current low upper limb training effect on patients.

[0006] In a first aspect, the present invention provides a multi-joint activity measurement and training device, comprising:

[0007] A base; a display component, arranged on the base, comprising a touch display screen for touch control; a training component, arranged on the base, comprising a motor and a rotating member driven by the motor, the rotating member being provided with a retractable telescopic member, the retractable end of the telescopic member being provided with a handle for a patient to hold, the handle being able to rotate with the rotating member, and being used for upper limb training of the patient; the telescopic member (32) being arranged vertically on the outer surface of the rotating member (31), and the handle (33) and the rotating member (31) being parallel to each other;

[0008] It also includes two sensors, one of which is worn on the patient's forearm, and the other is worn on the patient's upper arm, and the two sensors are used to measure the range of motion of the joint;

[0009] The training method of the activity measurement training device comprises: collecting measurement data;

[0010] The joint range of motion is calculated, wherein the joint range of motion includes the elbow range of motion (Zte) and the shoulder range of motion (Jte), and the calculation formula is:

[0011] Zte = this elbow joint activity value - the previous elbow joint activity value;

[0012] Jte = this shoulder joint activity value - the previous shoulder joint activity value;

[0013] Determine the difference between the range of motion of the elbow joint (Zte) and the range of motion of the shoulder joint (Jte); in response to the difference being less than or equal to a set threshold, adjust the corresponding physical quantity according to the comparison result of the range of motion of the elbow joint (Zte) and the range of motion of the shoulder joint (Jte), wherein the physical quantity includes the length of a circular ring and the rotation speed, and the length of the circular ring is the length of the telescopic member.

[0014] Furthermore, the telescopic member is located below the display screen.

[0015] In one embodiment, it also includes, in response to the shoulder joint range of motion (Jte)> elbow joint range of motion (Zte), calculating the increased length (S) of the ring, the calculation formula is: the increased length (S) of the ring = (Jte-Zte)*forearm length / 360; increasing the distance of the telescopic part according to the increased length (S) of the ring.

[0016] In one embodiment, in response to the shoulder joint range of motion (Jte) < elbow joint range of motion (Zte), the increase in rotation speed is calculated, and the calculation formula is: the increase in rotation speed = (Zte-Jte)*2*3.14*circle radius; the rotation speed of the motor is adjusted according to the increase in rotation speed.

[0017] In one embodiment, the method further includes: stopping training in response to the difference being greater than a set threshold.

[0018] In one embodiment, the set threshold is 20.

[0019] In one embodiment, the increase in rotation speed refers to the rotation speed that the motor needs to increase.

[0020] Beneficial Effects

[0021] (1) When the data detected by the sensor shows that the range of motion of the shoulder joint (Jte) is greater than the range of motion of the elbow joint (Zte), the increased length of the ring (S) is calculated, so that the telescopic part increases the corresponding length (S). When the range of motion of the shoulder joint (Jte) is measured to be less than the range of motion of the elbow joint (Zte), the increase in the rotation speed is calculated, that is, the movement speed of the motor is increased, so that the elbow and shoulder movements are kept consistent, thereby improving the training effect on the patient's upper limbs. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] By reading the following detailed description with reference to the accompanying drawings, the above and other objects, features and advantages of the exemplary embodiments of the present invention will become readily understood. In the accompanying drawings, several embodiments of the present invention are shown in an exemplary and non-limiting manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein:

[0023] Figure 1 is a schematic diagram schematically showing the overall structure according to the present invention;

[0024] Figure 2 is a schematic diagram schematically showing a three-dimensional structure of a mounting member according to the present invention;

[0025] Figure 3 is a schematic diagram schematically showing a three-dimensional structure of a telescopic member according to the present invention;

[0026] Figure 4 is a flowchart schematically illustrating a training method according to an embodiment of the present invention;

[0027] Figure 5 FIG. 1 is a schematic diagram schematically showing control elements of a controller according to the present invention.

[0028] Reference numerals:

[0029] 10. Base; 11. Protective shell;

[0030] 20. Display assembly; 21. Support member; 22. Mounting member; 23. Touch screen;

[0031] 30. Training component; 31. Rotating member; 311. Mounting portion; 32. Telescopic member; 321. Raised portion; 33. Handle; 331. Sleeve; 34. First connecting member; 35. Driving source; 351. Second connecting member. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0033] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0034] At present, the commonly used multi-joint activity measurement and training methods are basically divided into visual inspection, instrument measurement and flat film measurement. The corresponding measurement equipment can be used to measure and train the multi-joint activities of the human body.

[0035] Currently, most of the multi-joint motion measurement and training methods on the market are relatively simple, only manually measuring the joint motion angle. Some equipment combines visual inspection and instrument measurement, but the measurement methods used are also separate measurement methods and independent training methods, resulting in low upper limb training effects on patients.

[0036] Figures 1 to 3 The diagram schematically shows a multi-joint activity measurement and training device according to the present embodiment, comprising a base 10, on which a rotatable rotating member 31 is provided, on which a telescopic member 32 is provided, and on which a handle 33 is provided, so that a patient can hold the handle 33, and then the handle 33 rotates to drive the patient's upper limbs to move, thereby training the patient's upper limbs.

[0037] like Figure 1 and Figure 2 As shown, a support member 21 is vertically fixedly installed on the top of the base 10, and a mounting member 22 is fixedly connected to the upper surface of the support member 21. The upper surface of the mounting member 22 has a groove. In this embodiment, the shape of the groove is circular. In other embodiments, the shape of the groove can be square, pentagonal, etc., and a touch display screen 23 is installed in the groove.

[0038] A rotating member 31 is vertically installed on the top of the base 10. The rotating member 31 is a sleeve with two ends connected. The rotating member 31 is sleeved on the outside of the support member 21 and is rotatably connected to the base 10. A mounting portion 311 is fixed to the upper portion of the outer surface of the rotating member 31. The telescopic member 32 is vertically arranged on the mounting portion 311. In the present embodiment, the telescopic member 32 is an electric telescopic rod. In other embodiments, the telescopic member 32 can be a hydraulic cylinder or a pneumatic cylinder, etc. In addition, a protrusion 321 is also provided at the telescopic end of the telescopic member 32. The protrusion 321 is circular in shape, and a handle 33 is fixed on the protrusion 321. The handle 33 is vertically arranged on the protrusion 321 and is parallel to the rotating member 31. When the telescopic member 32 is started, the telescopic member 32 can drive the handle 33 to move in the horizontal direction.

[0039] It should be noted that a sleeve 331 is also provided at the upper end of the handle 33. The sleeve 331 may be spherical, square or cylindrical. Preferably, in the present embodiment, the sleeve 331 is in the shape of a cone that is larger at the top and smaller at the bottom. In addition, in the present embodiment, the sleeve 331 is made of rubber material to improve the comfort of the patient when holding it.

[0040] like Figure 2As shown, a first connecting member 34 is fixedly connected to the outer surface of the rotating member 31, and the first connecting member 34 is located below the telescopic member 32. In the present embodiment, the first connecting member 34 is a spur gear. In addition, a driving source 35 is fixedly connected to the top of the base 10. In the present embodiment, the driving source 35 is a motor. The main shaft of the driving source 35 is fixedly connected to the second connecting member 351, and the second connecting member 351 is a spur gear. The second connecting member 351 is meshingly connected with the first connecting member. When the driving source 35 is started, the driving source 35 can drive the second connecting member 351 to rotate. The second connecting member 351 drives the rotating member 31 to rotate through the first connecting member 34, so that the rotating member 31 drives the handle 33 to rotate. When the patient holds the handle 33, the rotation of the handle 33 can perform upper limb training on the patient.

[0041] It should be noted that a protective shell 11 is fixedly connected to the top of the base 10, and the second connecting member 351, the first connecting member 34 and the driving source 35 are all located inside the protective shell 11. The protective shell 11 can be made of sound insulation material. The protective shell 11 can soundproof and protect the internal components. A battery can be installed on the base 10, and the battery is also located inside the protective shell 11. An opening for charging the battery is opened on the protective shell 11 for charging the battery, and the battery can provide power for the electrical components in the device.

[0042] In this embodiment, two sensors are also included, which contain real-time angle and acceleration change data of the XYZ axes. One sensor is worn on the patient's forearm and the other sensor is worn on the patient's upper arm to measure the range of motion of the joints.

[0043] like Figure 4 As shown, in a second aspect, the present invention also provides a multi-joint activity measurement training method, comprising: Step S11: collecting measurement data.

[0044] The joint range of motion measured by the sensor worn on the forearm is completed by the elbow joint; the joint range of motion measured by the sensor worn on the upper arm is completed by the shoulder joint. The patient holds the handle 33 and passively moves in the direction of rotation of the handle 33, and the sensor is parallel to the horizontal plane, and the angle of movement is the joint range of motion.

[0045] Step S12: Calculate the joint range of motion, wherein the joint range of motion includes the elbow joint range of motion Zte and the shoulder joint range of motion Jte, ​​and the calculation formula is:

[0046] Zte = this elbow joint activity value - the previous elbow joint activity value;

[0047] Jte=this shoulder joint activity value-the previous shoulder joint activity value.

[0048] It should be noted that the time interval between the last shoulder joint activity value and the current shoulder joint activity value is T. In this embodiment, the time interval T is 1s. In other embodiments, the time interval T may be 0.8s, 1.3s or 1.5s, etc. In this embodiment, the time interval T is not limited and can be set according to needs.

[0049] Regarding the term "range of motion", range of motion refers to the degree to which the body's joints can move within a specific range of motion. It reflects the elasticity and flexibility of the ligaments, muscles, and other tissues around the joints; joint mobility is essential for the body's normal function and daily activities. Lack of joint mobility can lead to muscle stiffness, discomfort, increased risk of injury, and dysfunction.

[0050] Step S13: Determine the difference between the elbow joint range of motion Zte and the shoulder joint range of motion Jte.

[0051] Step S14: In response to the difference being less than or equal to a set threshold, corresponding physical quantities are adjusted according to the comparison results of the elbow joint range of motion Zte and the shoulder joint range of motion Jte, ​​wherein the physical quantities include the length of the circle and the rotation speed.

[0052] If the range of motion of the shoulder joint Jte> the range of motion of the elbow joint Zte, calculate the increased length S of the ring, the calculation formula is:

[0053] The increased length S of the ring = (Jte-Zte)*length of the forearm / 360; the distance of the telescopic member 32 is increased according to the increased length S of the ring, and the increased length of the ring is also the extension distance of the telescopic member 32.

[0054] For example, the measured range of motion of the shoulder joint Jte is 20, the measured range of motion of the elbow joint Zte is 8, and the length of the forearm is 28. A comparison result of 20 being greater than 10 is obtained, and the increased length S of the ring is calculated using the following formula:

[0055] The increased length of the ring S=(20-8)*30 / 360=1, and the telescopic member 32 is controlled to extend by 1 cm, so that the shoulder and elbow movements are kept consistent, thereby improving the training effect on the patient's upper limbs.

[0056] If the range of motion of the shoulder joint Jte < the range of motion of the elbow joint Zte, calculate the increase in rotation speed using the formula:

[0057] The increase in rotation speed = (Zte-Jte)*2*3.14*radius of the ring; then the rotation speed of the motor 35 is adjusted according to the increase in rotation speed.

[0058] For example, the measured range of motion of the shoulder joint Jte is 20, the measured range of motion of the elbow joint Zte is 18, and the current circle radius is 30 cm. Then, the increase in the rotation speed is calculated using the following formula:

[0059] The increase in rotation speed = (20-18) * 2 * 3.14 * 30 = 376.8 cm / s. Assuming that the current motor rotation speed is 100 cm / s, the motor rotation speed after the overspeed increase is 376.8 cm / s + 100 cm / s = 476.8 cm / s, which keeps the elbow and shoulder movements consistent and improves the training effect on the patient's upper limbs.

[0060] If the difference is greater than the set threshold, the training is stopped; in this embodiment, the set threshold is defined as 20, that is, when the absolute value of the shoulder joint range of motion Jte-elbow joint range of motion Zte is greater than 20, it means that the patient may be in danger or cannot complete the training, so the emergency stop protection is turned on and the training is terminated.

[0061] like Figure 5 As shown, in this embodiment, the telescopic member 32 is an electric telescopic rod, and the telescopic member 32, the touch screen 23, the sensor, and the motor 35 are all electrically connected to the controller. The sensor has a communication module, which enables the sensor to wirelessly transmit signals to the controller, so that the controller controls the motor 35 and the telescopic member 32 to change.

[0062] Working principle: When in use, first wear two sensors on the patient's forearm and upper arm respectively, then the patient holds the handle 33 with the upper limb to be trained, and then touches the start button of the touch screen 23 to start the driving source 35, the driving source 35 drives the second connecting member 351 to rotate, and the second connecting member 351 drives the rotating member 31 to rotate through the first connecting member 34, so that the rotating member 31 drives the telescopic member 32 to rotate, and the handle 33 on the telescopic member 32 also rotates. When the patient holds the handle 33, the rotation of the handle 33 can drive the patient's hand to make a circular motion, and when the data detected by the sensor measures that if the shoulder joint activity Jte> elbow joint activity Zte, the increased length S of the ring is calculated, so that the telescopic member 35 increases the corresponding length S; when the shoulder joint activity Jte is measured < elbow joint activity Zte, the increase in the rotation speed is calculated, that is, the motor speed is increased, so that the elbow and shoulder movements are consistent, and the training effect on the patient's upper limbs is improved.

[0063] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0064] In the description of this specification, "plurality" or "several" means at least two, such as two, three or more, etc., unless otherwise clearly and specifically defined.

[0065] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0066] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A multi-joint activity measurement and training device, characterized in that: include: Base (10); A display assembly (20), arranged on the base (10), comprising a touch display screen (23) for touch control; A training component (30) is arranged on the base (10), comprising a motor (35) and a rotating member (31) driven by the motor (35); a retractable telescopic member (32) is arranged on the rotating member (31); a handle (33) for a patient to hold is arranged at the retractable end of the telescopic member (32); the handle (33) can rotate along with the rotating member (31) to train the patient's upper limbs; the retractable member (32) is arranged vertically on the outer surface of the rotating member (31); and the handle (33) and the rotating member (31) are parallel to each other; It also includes two sensors, one of which is worn on the patient's forearm, and the other is worn on the patient's upper arm, and the two sensors are used to measure the range of motion of the joint; The training method of the activity measurement training device comprises: collecting measurement data; The joint range of motion is calculated, wherein the joint range of motion includes the elbow range of motion (Zte) and the shoulder range of motion (Jte), and the calculation formula is: Zte = this elbow joint activity value - the previous elbow joint activity value; Jte = this shoulder joint activity value - the previous shoulder joint activity value; Determine the difference between the range of motion of the elbow joint (Zte) and the range of motion of the shoulder joint (Jte); in response to the difference being less than or equal to a set threshold, adjust the corresponding physical quantity according to the comparison result of the range of motion of the elbow joint (Zte) and the range of motion of the shoulder joint (Jte), wherein the physical quantity includes the length of a circular ring and the rotation speed, and the length of the circular ring is the length of the telescopic member.

2. The multi-joint activity measurement and training device according to claim 1, characterized in that: The telescopic member (32) is located below the display screen (23).

3. The multi-joint activity measurement and training device according to claim 1, characterized in that: The method further includes calculating the increased length (S) of the ring in response to the shoulder joint range of motion (Jte) > elbow joint range of motion (Zte), using the following formula: The increased length of the ring (S) = (Jte-Zte)*forearm length / 360; The distance of the telescopic member (32) is increased according to the increased length (S) of the ring.

4. The multi-joint activity measurement and training device according to claim 1, characterized in that: In response to the shoulder joint range of motion (Jte) < elbow joint range of motion (Zte), the increase in rotation speed is calculated using the following formula: The increase in rotation speed = (Zte-Jte)*2*3.14*ring radius; The rotation speed of the motor (35) is adjusted according to the increase in the rotation speed.

5. The multi-joint activity measurement and training device according to claim 1, characterized in that: Also includes: In response to the difference being greater than a set threshold, the training is stopped.

6. The multi-joint activity measurement and training device according to claim 5, characterized in that: The set threshold is 20.

7. The multi-joint activity measurement and training device according to claim 4, characterized in that: The increase in rotation speed refers to the rotation speed that the motor (35) needs to increase.

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