A bidirectional assisted elbow joint rehabilitation training device and a training method

Abstract

The application discloses a kind of elbow joint rehabilitation training technical field's two-way assisted elbow joint rehabilitation training device and training method, including support base, turnover support and sliding slot base, the rear end of the turnover support can be rotatably connected in the front end of support base, sliding block and drive motor are slidably installed in the top of the sliding slot base, controller is further arranged in the support base, and electromyographic sensor is arranged on the support base and turnover support, patient can be helped to carry out passive training by the device, active training mode can also be provided, patient is forced to actively use muscle strength, impedance training is provided in the later stage of patient recovery, resistance is provided to patient training action, impedance is formed, impedance type rehabilitation training is generated for patient, effectively help patient to finally restore normal state of elbow joint muscle, and in the same stroke, three different training modes can also be combined with each other, to achieve the best training effect.

Description

Technical Field

[0001] The present invention relates to the technical field of elbow joint rehabilitation training, and in particular to a bidirectional auxiliary elbow joint rehabilitation training device and training method. Background Art

[0002] The elbow joint is composed of the distal end of the humerus and the proximal end of the radius and ulna. Structurally, it comprises three joints enclosed within a joint capsule. It connects the upper arm and forearm and plays a key role in upper limb movement. The elbow joint can flex, extend, internally rotate, and externally rotate. Illness or accidents, including but not limited to stroke and fractures, can cause movement disorders in the elbow joint. These elbow movement disorders require rehabilitation training to restore muscle strength. Restoring the strength of the elbow muscle group significantly impacts the patient's recovery activities.

[0003] The clinical treatment of elbow dyskinesia can be divided into three stages: early, mid, and late. Prompt treatment and recovery in the early stages are more conducive to the patient's maximum recovery after recovery.

[0004] There are many types of elbow rehabilitation, some use electrical stimulation therapy, some use physical massage therapy, and some use external training devices for rehabilitation training. The therapeutic effects vary, and multiple treatment plans can also be carried out simultaneously to assist in the treatment and rehabilitation of the elbow joint.

[0005] Current elbow rehabilitation training devices generally use a bracket to support and lift the elbow joint, and are basically aimed at early rehabilitation training for severe elbow joint strength deficiency. For example, when the elbow strength is insufficient to perform flexion and extension movements, the muscles cannot move to the right position, and the patient needs to rely on the doctor to perform auxiliary movements to enable the patient to repeatedly complete the complete elbow flexion and extension movements.

[0006] Some of the current elbow rehabilitation training devices can also assist patients in completing elbow rehabilitation training. Generally, motors are used to assist the patient's elbow rotation and provide sufficient power. Even if the patient's muscles are weak and the elbow joint does not need to exert force, this device can force the patient's elbow joint to flex and extend forward to complete the rehabilitation training of the elbow joint. This is basically passive rehabilitation training. There are also some rehabilitation training devices that can use electromyographic signals to detect muscles and generate different support forces and power. Generally, different supports are provided according to the patient's muscle strength to assist and guide the patient to use some muscle strength. This training method also forces the completion of elbow rehabilitation training, and is still a passive rehabilitation training method.

[0007] The ultimate goal of rehabilitation training is to allow the patient's own limbs to recover. The purpose is to restore the patient's limbs from the initial inability to move to independent and free movement after recovery, and to be able to lift heavy objects to restore to a healthy state. Therefore, no matter what the cause of the elbow joint movement disorder, the ultimate goal is to be able to restore normal activities and be able to lift heavy objects. Passive rehabilitation training is a forced exercise of muscles to assist in recovery due to joint damage; and the ultimate goal is to make muscle strength reach the same level as that of ordinary people. Conventional passive training cannot achieve such an effect. These conventional devices can only help patients assist in completing bending and extension. To achieve complete autonomous flexion and extension movements of patients, other methods of elbow joint training are needed.

[0008] Based on this, the present invention designs a bidirectional assisted elbow joint rehabilitation training device and training method to solve the above problems. Summary of the Invention

[0009] The purpose of the present invention is to provide a two-way assisted elbow joint rehabilitation training device and training method, which can help patients perform rehabilitation training through this device. Passive training can be performed to provide sufficient support force to complete flexion and extension movements; active training methods can also be provided, and the support force provided is less than the force required to complete the movement, forcing the patient to actively use muscle strength, and cooperate with the equipment to help the patient complete the complete training movement, to assist the patient to complete the movement that he could not complete alone before; in the later stage when the patient is about to recover, impedance training is provided, actively providing resistance to the patient's training movement, forming impedance, allowing the patient to produce impedance rehabilitation training, effectively helping the patient's muscles to recover to a normal state, and in the same journey, the three different training methods can be combined with each other to achieve the best training effect.

[0010] The present invention is implemented as follows: a bidirectional auxiliary elbow joint rehabilitation training device, comprising:

[0011] Support base, flip bracket and chute base;

[0012] The support base is a bent bracket, the rear end of the support base is a horizontally supported bottom plate, the front end of the support base is tilted upward, and the rear end of the support base is stably provided with an upper arm limit bracket, the upper arm limit bracket is a U-shaped groove with an open top, and the groove axis of the upper arm limit bracket is horizontally arranged;

[0013] The rear end of the flip bracket can be rotatably connected to the front end of the supporting base, and the flip bracket is composed of two vertical flat plate-shaped frame plates, and an adjustment slot is provided at the front end of the flip bracket along the left and right directions, and the adjustment slot penetrates the left and right sides of the flip bracket laterally, and a small arm support plate is also set between the two frame plates on the left and right sides of the front end of the flip bracket; the small arm support plate is a U-shaped groove with a top opening, and a clamping block is provided on the left and right sides of the small arm support plate, and the two clamping blocks are both arranged on the edge of the top opening of the small arm support plate and protrude laterally outward;

[0014] The clamping blocks on the left and right sides are respectively inserted into the adjustment slots on the left and right sides, and the clamping blocks are slidably arranged in the adjustment slots along the front-back direction;

[0015] The chute base is a horizontally erected chute, and the axis of the chute of the chute base is in the same vertical plane as the axis of the support base and the flip bracket;

[0016] A slider and a drive motor are slidably mounted on the top of the slide base; a support rod is mounted on the top of the slider via a hinge bracket, and the upper end of the support rod is rotatably connected to the bottom of the forearm support plate via a hinge bracket;

[0017] The driving motor and the slider are connected via a spring;

[0018] A controller is also provided inside the support base, and myoelectric sensors are provided on the support base and the flip bracket. The controller in the support base is separately connected to the drive motor and the myoelectric sensor, and the controller in the support base is connected to an external power supply.

[0019] Furthermore, a rotating shaft is provided at the top of the front end of the support base, a bearing is provided at the rear end of the flip bracket, the rotating shaft is inserted into the inner ring of the bearing, and the front end of the support base and the rear end of the flip bracket are rotatably connected through the rotating shaft and the bearing.

[0020] Furthermore, the forearm support plate and the upper arm limit support are both semicircular sheet structures, the left and right sides and the bottom of the forearm support plate and the upper arm limit support are closed, and the tops of the forearm support plate and the upper arm limit support are open;

[0021] The axes of the forearm support plate and the upper arm limit support are in the same vertical plane;

[0022] Velcro pieces are provided on the tops of the forearm support plate and the upper arm limit support.

[0023] Furthermore, the adjustment groove is a waist-shaped hole with a transverse opening, a screw hole is provided on the top of the adjustment groove, a screw rod is installed in the screw hole on the top of the adjustment groove, and the clamping block is locked in the adjustment groove by the screw rod.

[0024] Furthermore, the chute base and the rear end of the support base are fixedly connected to form an integral structure through a flat plate, and the angle a between the front and rear ends of the support base is 30°.

[0025] Furthermore, the spring is detachably installed between the slider and the drive motor;

[0026] There are several different types of replacement springs available.

[0027] A bidirectionally assisted elbow joint rehabilitation training method is provided, which requires providing a bidirectionally assisted elbow joint rehabilitation training device. The system includes the following steps:

[0028] Step S1: Place the patient's arm on the support base and the turning bracket, support the upper arm with the support base and restrain the upper arm with Velcro on the support base; support the forearm with the turning bracket and restrain it with Velcro;

[0029] Step S2: Attach the myoelectric sensor to the corresponding monitoring point on the patient's arm, detect the myoelectric signal, and transmit the data to the controller in the support base. The controller controls the drive motor to push the slider according to the pre-established myoelectric mapping model, controls the spring to generate the corresponding elastic force, and provides the support rod with a support force that matches the patient's muscle strength through the slider. The controller adapts the appropriate rehabilitation training mode based on the muscle force parameters calculated by the myoelectric signal detection. The system provides three different rehabilitation training modes, including: passive rehabilitation training, active rehabilitation training, and impedance rehabilitation training.

[0030] Step S3, passive rehabilitation training: the electromyographic signal of the patient's arm is detected by an electromyographic sensor, and the patient's muscle strength information is obtained by calculating the data model. The spring is controlled to generate a greater elastic force by adjusting the distance between the drive motor and the slider, and the direction of the elastic force of the spring is consistent with the direction of movement of the forearm. The drive motor is repeatedly pushed back and forth along the slide base, and during the pushing stroke of the drive motor, the elastic force of the spring is sufficient to fully support the weight of the arm.

[0031] Step S4, active rehabilitation training: detecting the electromyographic signal of the patient's arm through an electromyographic sensor, obtaining the patient's muscle strength information through data model calculation, controlling the spring to generate appropriate elastic force through the distance between the drive motor and the slider, and the direction of the elastic force of the spring is consistent with the direction of movement of the forearm, so that the elastic force of the spring is less than the weight sufficient to support the arm and provides different supporting forces according to different muscle forces obtained from different electromyographic signals, and the spring supporting force needs to be less than the sum of the patient's own muscle strength and the weight of the arm;

[0032] The driving motor repeatedly pushes forward and backward along the chute base, and during the pushing stroke of the driving motor, the elastic force generated by the spring is kept in accordance with the setting;

[0033] Step S5, impedance rehabilitation training: the electromyographic signal of the patient's arm is detected by an electromyographic sensor, and the patient's muscle strength information is obtained by calculating the data model; the spring is controlled by a driving motor to generate elastic force, and the direction of the elastic force of the spring is opposite to the direction of the forearm movement;

[0034] The driving motor repeatedly pushes the slide base forward and backward, and according to different muscle forces obtained from different electromyographic signals, the spring is controlled by the distance between the driving motor and the slider to provide an elastic force of appropriate size and direction during the forward and backward movement of the driving motor, so that the sum of the elastic force of the spring and the weight of the arm is less than the muscle force of the elbow joint movement;

[0035] Step S6, the drive motor controls the change in elastic force of the spring, and applies elastic force of passive rehabilitation training, active rehabilitation training, and resistance rehabilitation training to the elbow joint through the drive motor at different angles of the elbow joint within the range of rehabilitation training;

[0036] Within the same range of motion of the elbow joint, rehabilitation training is performed by combining the passive rehabilitation training, active rehabilitation training and resistance rehabilitation training or performing a single training method.

[0037] Furthermore, in the impedance-type rehabilitation training, when the arm is retracted backward for rehabilitation training, the drive motor pulls the spring forward, causing the slider to generate a forward pulling force, thereby forming a reverse impedance to the bending of the elbow;

[0038] When the arm is extended forward, the drive motor pushes the spring backward, causing the slider to generate a backward thrust, thereby forming a reverse impedance to the extension of the elbow through the support rod.

[0039] The beneficial effects of the present invention are as follows: 1. The present invention enables the elbow joint to be conveniently placed on the device for movement through the coordinated structure of the integral support base, the flip bracket and the chute base. The rotation of the rotating shaft can ensure that the flexion and extension angles of the elbow joint are accurate, and the chute base and the drive motor can provide auxiliary support force to the patient, making it easier for the patient to perform rehabilitation training.

[0040] 2. The driving motor of this device does not directly drive the flip bracket, but uses the slide base for guidance, which makes the pushing direction more accurate, and adds the cooperation of the spring and the slider, so that the auxiliary support force is not rigid, but has a buffering effect, so that both support and pullback are elastic, forming a damping buffering effect in the rigid support, and through the cooperation of the spring, the motor drive can not only generate positive auxiliary support force, but also generate reverse resistance, while only using the motor for auxiliary support can only be in the same direction, otherwise the motor will be locked. In addition, this device can also adjust the force, and only needs to adjust the compression length of the spring, which is convenient to use;

[0041] 3. This device can be used for both common passive rehabilitation training, active rehabilitation training, and impedance rehabilitation training. It can flexibly provide different types of rehabilitation training for patients and match appropriate training methods to patients at different training stages. It can provide fully supported passive training for patients with complete weakness in the early stage, active rehabilitation training when muscle strength is partially recovered in the middle stage, and impedance-generated impedance rehabilitation training when patients can flex and extend independently in the later stage. It is more flexible to use, has better training effects, and makes the training stages more complete.

[0042] 4. Through electromyographic signal recognition, this device can produce different training methods for combination in the same training movement, with a higher degree of refined analysis and matching of movements, and can more accurately assist the patient in controlling the strength of each segment of each movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0044] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0045] Figure 2 This is a schematic diagram of the outer side structure of the present invention;

[0046] Figure 3 This is a schematic diagram of the inner front structure of the present invention;

[0047] Figure 4 This is a schematic diagram of the inner top structure of the present invention.

[0048] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0049] 1-support base, 11-upper arm limit support, 12-connecting slot, 13-rotating shaft, 2-flip bracket, 21-small arm support plate, 22-block, 23-adjusting slot, 3-slide base, 31-spring, 32-slider, 33-drive motor, 34-support rod. DETAILED DESCRIPTION

[0050] See also Figures 1 to 4 As shown, the present invention provides a bidirectional auxiliary elbow joint rehabilitation training device. In a specific embodiment of the technical solution of the present invention:

[0051] It includes: a support base 1, a flip bracket 2 and a slide base 3;

[0052] The support base 1 is a bent bracket, the rear end of the support base 1 is a horizontally supported bottom plate, the front end of the support base 1 is tilted upward, and the rear end of the support base 1 is stably provided with an upper arm limit bracket 11, which is a U-shaped groove with an opening at the top, and the groove axis of the upper arm limit bracket 11 is horizontally arranged;

[0053] A rotating shaft 13 is set at the top of the front end of the support base 1, and a bearing is set at the rear end of the flip bracket 2. The rotating shaft 13 is inserted into the inner ring of the bearing. The front end of the support base 1 and the rear end of the flip bracket 2 are rotatably connected through the rotating shaft 13 and the bearing.

[0054] The rear end of the flip bracket 2 can be rotatably connected to the front end of the support base 1. The flip bracket 2 is composed of two vertical flat plate-shaped frames. The front end of the flip bracket 2 is provided with an adjustment slot 23 along the left and right directions. The adjustment slot 23 penetrates the left and right sides of the flip bracket 2 laterally. A small arm support plate 21 is also set between the two frames on the left and right sides of the front end of the flip bracket 2; the small arm support plate 21 is a U-shaped groove with a top opening, and a clamping block 22 is set on the left and right sides of the small arm support plate 21. The two clamping blocks 22 are both arranged on the edge of the top opening of the small arm support plate 21 and protrude laterally outward.

[0055] The blocks 22 on the left and right sides are respectively inserted into the adjustment slots 23 on the left and right sides, and the blocks 22 are slid in the adjustment slots 23 along the front-back direction; the adjustment slots 23 are waist-shaped holes with a transverse opening, and a screw hole is provided at the top of the adjustment slots 23. A screw is installed in the screw hole at the top of the adjustment slots 23, and the blocks 22 are locked in the adjustment slots 23 by the screw.

[0056] The forearm support plate 21 and the upper arm limit support 11 are both semicircular sheet structures, the left and right sides and the bottom of the forearm support plate 21 and the upper arm limit support 11 are closed, and the tops of the forearm support plate 21 and the upper arm limit support 11 are open;

[0057] The axes of the forearm support plate 21 and the upper arm limit support 11 are in the same vertical plane;

[0058] Velcro pieces are provided on the tops of the forearm support plate 21 and the upper arm limit support 11 .

[0059] The chute base 3 is a horizontally mounted chute, and the axis of the chute of the chute base 3 is in the same vertical plane as the axis of the support base 1 and the flip bracket 2; the chute base 3 and the rear end of the support base 1 are fixedly connected to form an integral structure through a flat plate, and the angle a between the front and rear ends of the support base 1 is 30°.

[0060] A slider 32 and a drive motor 33 are slidably installed on the top of the slide base 3; a support rod 34 is installed on the top of the slider 32 through a hinge bracket, and the upper end of the support rod 34 is rotatably connected to the bottom of the forearm support plate 21 through a hinge bracket; the support rod 34 is an electric telescopic rod, or an electric push rod, which is controlled by a controller. Similarly, the drive motor 33 can be a linear motor or an electric push rod, as long as its moving distance can be accurately controlled by the controller.

[0061] The driving motor 33 and the slider 32 are connected by a spring 31. The spring 31 has multiple different types of replacement parts. Springs 31 with different elastic coefficients can be replaced according to needs to generate different supporting forces and be installed and adapted for different stages of the patient's recovery process.

[0062] The driving direction of the driving motor 33 and the sliding direction of the slider 32 are both in the same direction as the axis of the chute of the chute base 3. The spring 31 is detachably installed between the slider 32 and the driving motor 33;

[0063] A controller is also provided inside the support base 1, and myoelectric sensors are provided on the support base 1 and the flip bracket 2. The controller inside the support base 1 is separately connected to the drive motor 33 and the myoelectric sensor, and the controller inside the support base 1 is connected to an external power supply.

[0064] The embodiment of the present invention provides a bidirectionally assisted elbow joint rehabilitation training device and training method. The technical problems encountered by the present invention are: 1. Conventional elbow joint rehabilitation training devices are basically passive. Some can adjust the size of the auxiliary force. This type can assist passive rehabilitation training, but the force control is single, and basically relies on people to adjust the size of the auxiliary force, that is, the auxiliary force provided is the same for the patient's muscle strength, resulting in a single training intensity that the patient can obtain, and cannot achieve targeted training; 2. Not only will the patient's muscle strength recover different strength data at different stages with training, but even the real-time strength of each training will be different. For example, at the beginning of training, the muscle strength is relatively sufficient, but after ten minutes of training, the muscle becomes tired and the strength is insufficient. There are currently devices that rely on detecting electromyographic signals for control, but there is no It cannot be adjusted in real time according to muscle strength; 3. During training, in the same movement of the elbow joint, the muscle strength is basically considered to be the same, but the different stages of elbow flexion and extension also have different strengths. For example, in the process of flexion, the front part of the initial activity is generally stronger, and the patient's posterior part is generally insufficient when contracting. When the existing device provides auxiliary force, the auxiliary force provided by the elbow joint at the same time or each time is actually the same. Then, in the initial front part of the same set of training, when the patient's muscle strength is greater, the equipment provides a constant auxiliary force, and the patient's muscles are not effectively trained. The auxiliary force will push the elbow joint to move. Only in this way can the posterior part provide enough auxiliary force to enable the patient to complete a complete activity training; 4. In the current elbow rehabilitation training, due to the particularity of the joint position and movement mode, the elbow joint is basically a passive rehabilitation training device. There is no active method, let alone a combined method.

[0065] The technical problem solved by the present invention is: the device can help patients to carry out rehabilitation training, which can be used for passive training and active training methods. The support force provided is less than the force required to complete the movement, forcing the patient to actively use muscle strength, and cooperate with the equipment to help the patient complete the complete training movement, to assist the patient to complete the movement that he could not complete alone before. In the later stage when the patient is about to recover, resistance training is provided to provide resistance to the patient's training movement, forming impedance, so that the patient can produce impedance rehabilitation training, effectively helping the patient to finally restore the normal state of the elbow joint muscles. Moreover, in the same stroke, the three different training methods can be combined with each other, providing impedance in the early stage of the movement, and providing a small amount of support force when the muscle strength weakens in the middle stage to form active training, and providing support in the latter stage of the movement to assist the patient to complete the complete movement and achieve the best training effect.

[0066] The technical effects achieved are as follows: 1. The present invention, through the coordinated structure of the overall support base 1, the flip bracket 2 and the chute base 3, enables the elbow joint to be conveniently placed on the device for movement. The rotation of the rotating shaft 13 can ensure that the flexion and extension angles of the elbow joint are accurate, and the chute base 3 and the drive motor 33 can provide auxiliary support force to the patient, facilitating the patient's rehabilitation training.

[0067] The present invention is to use the spring 31 to adjust the support force of the arm 33 so that the support force of the arm 33 is not rigid, but has a buffering effect, so that both support and pullback are elastic, forming a damping buffering effect in the rigid support, and the cooperation of the spring 31 makes the drive motor 33 not only generate positive auxiliary support force, but also generate reverse resistance, while only using the motor for auxiliary support can only be in the same direction, otherwise the motor will be locked in the opposite direction of the activity, and it is easy to cause damage to the arm by forced excessive bending, the present invention limits the motor through the slide base 3 and buffers it through the spring 31, providing manufacturing assistance with appropriate force and angle, and the present invention can also adjust the force, and only needs to adjust the compression length of the spring 31, which is convenient to use.

[0068] 3. This device can be used for both common passive rehabilitation training and active rehabilitation training, as well as impedance rehabilitation training. It can flexibly provide different types of rehabilitation training for patients and match appropriate training methods to patients at different training stages. For patients with complete elbow weakness in the early stages of training, it can provide fully supported passive training. When muscle strength is partially recovered in the middle stage, it can provide active rehabilitation training. When the patient can flex and extend independently in the later stage, it can provide impedance-generated impedance rehabilitation training. It is more flexible to use, has better training effects, and is more complete and targeted in the training stages.

[0069] 4. Through electromyographic signal recognition, this device can generate different training methods for combination in the same training movement, with a higher degree of refined analysis and matching of movements, and can more accurately assist the patient in controlling the strength of each segment of each movement. The same movement is divided into the front, middle and back segments for differentiated assistance. It can provide single assistance or multi-mode combination assistance. It is completely distributed and controlled according to the electromyographic signal and the muscle strength calculated by modeling. It has more ways to use and more precise training intensity.

[0070] The technical solution in the embodiment of the present invention is to solve the above problems, and the overall idea is as follows:

[0071] In order to better understand the above technical solution, the above technical solution will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0072] When used, the present invention provides a bidirectional assisted elbow joint rehabilitation training method, comprising the following steps:

[0073] Step S1: Place the patient's arm on the support base 1 and the flip bracket 2. The upper arm is supported by the support base 1 and restrained with Velcro on the support base; the forearm is supported by the flip bracket 2 and also restrained and positioned with Velcro.

[0074] Step S2: attach the electromyographic sensor to the corresponding monitoring point on the patient's arm, detect the electromyographic signal, and transmit the data to the controller in the support base 1. The controller controls the drive motor 33 to push the slider 32 according to the pre-established electromyographic mapping model, controls the spring 31 to generate the corresponding elastic force, and provides the support rod 34 with a supporting force that matches the patient's muscle strength through the slider 32. The controller adapts the appropriate rehabilitation training mode based on the muscle force parameters calculated by the electromyographic signal detection. The system provides three different rehabilitation training modes, including: passive rehabilitation training, active rehabilitation training, and impedance rehabilitation training.

[0075] When the myoelectric sensor data modeling predicts that the elbow joint muscle strength is greater than the sum of the weights of the arm and the flip bracket 2, the drive motor 33 controls the elastic force change of the spring 31, and within the range of rehabilitation training, the drive motor 33 applies the elastic force of passive rehabilitation training, active rehabilitation training and impedance rehabilitation training to the elbow joint for different angle ranges of elbow joint movement. Passive rehabilitation training, active rehabilitation training and impedance rehabilitation training are combined with each other within the same range of elbow joint movement; according to needs, one of the rehabilitation training methods can be used alone, and two of the training methods can be selected to be combined and used in the same range of activity.

[0076] For example, in the front section of elbow contraction, the arm strength is generally relatively large, and an active training mode can be used to make the spring 31 not provide sufficient support force, or provide no elastic force for support at all, and perform active training. When the arm bends and the elbow joint contracts to the middle and back sections, the elbow joint strength is insufficient and cannot continue to contract. The drive motor 33 advances and the compression spring provides elastic support, so that the arm passively continues to contract and completes a complete stroke. Similarly, the same is true when the elbow joint is pressed down. The strength in the front section of the initial relaxation is relatively strong, and a small amount or no support force can be provided, allowing the elbow joint muscle group to move on its own to resist the weight of the arm. In the back section of the movement stroke, the muscle strength is insufficient, and the drive motor 33 pulls the spring 31 to pull the slider 32 to the front end, and the support rod 34 is used to stretch and rotate the flip bracket 2 forward, so that the elbow joint can complete a complete relaxation.

[0077] Step S3, passive rehabilitation training: The electromyographic signal of the patient's arm is detected by the electromyographic sensor, and the patient's muscle strength information is obtained by calculating the data model. The spring 31 is controlled to generate a greater elastic force by adjusting the distance between the driving motor 33 and the slider 32. The direction of the elastic force of the spring 31 is consistent with the direction of movement of the forearm. The driving motor 33 is repeatedly pushed back and forth along the slide base 3. During the pushing stroke of the driving motor 33, the elastic force of the spring 31 is sufficient to fully support the weight of the arm.

[0078] Step S4, active rehabilitation training: The electromyographic signal of the patient's arm is detected by the electromyographic sensor, and the patient's muscle strength information is obtained by calculating the data model. The spring 31 is controlled to generate appropriate elastic force by the spacing between the driving motor 33 and the slider 32, and the direction of the elastic force of the spring 31 is consistent with the direction of the forearm movement, so that the elastic force of the spring 31 is less than the weight sufficient to support the arm and different supporting forces are provided according to different muscle forces obtained by different electromyographic signals. The supporting force of the spring 31 needs to be less than the sum of the patient's own muscle strength and the weight of the arm, so that the patient needs to exert additional force in addition to the auxiliary support force provided by the driving motor 33 and the spring 31, otherwise the force is insufficient to support the arm movement;

[0079] The driving motor 33 pushes back and forth repeatedly along the chute base 3, and during the pushing stroke of the driving motor 33, the elastic force generated by the spring 31 is kept in accordance with the setting, and it is also necessary to ensure that the length of the support rod 34 is sufficient to support the bending range of the elbow joint, that is, the extended length of the support rod 34, under the control of the controller, the support rod 34 needs to be able to flex and extend the elbow joint, and the extension and retraction of the support rod 34 needs to be correlated with the control of the driving motor 33 to ensure that the elastic support force meets the muscle requirements;

[0080] Step S5: impedance rehabilitation training, detecting the electromyographic signal of the patient's arm through the electromyographic sensor, and obtaining the patient's muscle strength information through data model calculation; driving the motor 33 to control the spring 31 to generate elastic force, and the direction of the elastic force of the spring 31 is opposite to the direction of the forearm movement;

[0081] The driving motor 33 is repeatedly pushed forward and backward along the slide base 3, and different muscle forces are obtained according to different electromyographic signals. During the forward and backward movement of the driving motor 33, the spring 31 is controlled by the distance between the driving motor 33 and the slider 32 to provide an elastic force of appropriate size and direction, so that the sum of the elastic force of the spring 31 and the weight of the arm is less than the muscle force of the elbow joint movement;

[0082] During resistance rehabilitation training, when the arm is retracted backward for rehabilitation training, the drive motor 33 pulls the spring 31 forward, causing the slider 32 to generate a forward pulling force, forming a reverse impedance to the bending of the elbow;

[0083] When the arm is extended forward, the drive motor 33 pushes the spring 31 backward, causing the slider 32 to generate a backward thrust, and forming a reverse impedance to the extension of the elbow through the support rod 34.

[0084] This device monitors the patient's elbow joint movement and the complete reciprocating stroke in real time, and divides each unidirectional movement of the patient into three sections: the front section, the middle section, and the back section. All three sections are monitored by electromyographic sensors, and the drive motor 33 is controlled by the controller to provide different support forces in the three sections. For example, the movement of the elbow flexing and contracting the forearm is divided into three sections, and the movement of the elbow extending and stretching the forearm is also divided into three sections. Each section requires the drive motor 33 to independently control the auxiliary or impedance force. Conventional systems cannot apply force in such a refined manner, but are constant auxiliary types that do not change, and cannot apply impedance. This device can accomplish all of this.

[0085] The range of motion of the elbow joint is 10 degrees of extension and 135-150 degrees of flexion. The curvature varies from person to person, so you only need to set the approximate range to achieve the muscle training effect.

[0086] The front section is from the arm extending to the bending angle of 10° to 30°, the middle section is from the angle between the forearm and the upper arm of 31° to 90°, and the rear section is from 91° to the last 135° of the bending. Angle a is also 30°, which is for the convenience of monitoring and distinguishing the front section and the middle section. Because the support base 1 is open at the front and back and does not hinder the bending or extension of the arm, the rear end angle a of the support base 1 does not affect the arm movement, but is only for providing a better manufacturing orientation and guidance for the slide base 3.

[0087] The myoelectric sensor is a patch-type sensor with multiple patches. It can monitor the elbow joint muscle groups in all directions in real time and send the data through the serial port to the model in the computer to calculate the muscle parameters.

[0088] The controller for this device is a commonly used control device for systems. A PID controller can be used, consisting of a proportional unit, an integral unit, and a differential unit. PID controllers are primarily suitable for systems with essentially linear dynamic characteristics that do not change over time. They are well-established control devices, and this device can be used with parameters that meet these requirements.

[0089] The muscle strength data model established by the electromyographic signal is a mapping model between sEMG and muscle strength. This model is already a commonly used electromyographic signal data model. As long as the electromyographic signal is detected, the muscle strength data of the subject can be inferred through the model. The modeling data of this device needs to be pre-modeled by a computer, and the data is associated with the electromyographic signal, so that the processed electromyographic signal can be correlated and controlled by the controller to control the extension or retraction length of the drive motor 33 and the support rod 34.

[0090] The Hill muscle model, also known as the Hill model, is a three-unit skeletal muscle functional model developed by British biophysicist A. Hill. In this model, the contractile element CE is connected in series with a nonlinear elastic element SE, which is then connected in parallel with another nonlinear elastic element PE. The Hill muscle model is a classic muscle mechanics model used to describe muscle contraction and force generation. Proposed by Hill in 1938, the model has been widely used to study the mechanical properties and function of muscle. It is used in various myoelectric signal processing applications. The Hill muscle model, combined with artificial neural networks, has been widely applied and is currently a relatively complete myoelectric signal data matching model. Combined with neural networks, it can match myoelectric signals to corresponding muscle strength information. Simply inputting an EMG signal will generate the corresponding muscle strength data. Alternatively, other EMG signal models can be selected for prediction to ensure data accuracy.

[0091] Although the specific embodiments of the present invention are described above, those skilled in the art should understand that the specific embodiments described are merely illustrative and are not intended to limit the scope of the present invention. Equivalent modifications and changes made by those skilled in the art in accordance with the spirit of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A bidirectional auxiliary elbow joint rehabilitation training device, characterized in that: include: Support base, flip bracket and chute base; The support base is a bent bracket, the rear end of the support base is a horizontally supported bottom plate, the front end of the support base is tilted upward, and the rear end of the support base is stably provided with an upper arm limit bracket, the upper arm limit bracket is a U-shaped groove with an open top, and the groove axis of the upper arm limit bracket is horizontally arranged; The rear end of the flip bracket can be rotatably connected to the front end of the supporting base, and the flip bracket is composed of two vertical flat plate-shaped frame plates, and an adjustment slot is provided at the front end of the flip bracket along the left and right directions, and the adjustment slot penetrates the left and right sides of the flip bracket laterally, and a small arm support plate is also set between the two frame plates on the left and right sides of the front end of the flip bracket; the small arm support plate is a U-shaped groove with a top opening, and a clamping block is provided on the left and right sides of the small arm support plate, and the two clamping blocks are both arranged on the edge of the top opening of the small arm support plate and protrude laterally outward; The clamping blocks on the left and right sides are respectively inserted into the adjustment slots on the left and right sides, and the clamping blocks are slidably arranged in the adjustment slots along the front-back direction; The chute base is a horizontally erected chute, and the axis of the chute of the chute base is in the same vertical plane as the axis of the support base and the flip bracket; A slider and a driving motor are slidably mounted on the top of the slide base; a support rod is mounted on the top of the slider via a hinge bracket, and the upper end of the support rod is rotatably connected to the bottom of the arm support plate via the hinge bracket; the support rod is an electric telescopic rod, and the support rod can be telescopically supported between the slider and the arm support plate; The driving motor and the slider are connected via a spring; A controller is further provided inside the support base, and myoelectric sensors are provided on the support base and the flip bracket. The controller in the support base is separately connected to the drive motor, the support rod and the myoelectric sensor, and the controller in the support base is connected to an external power supply; A rotating shaft is provided at the top of the front end of the support base, and a bearing is provided at the rear end of the flip bracket. The rotating shaft is inserted into the inner ring of the bearing, and the front end of the support base and the rear end of the flip bracket are rotatably connected through the rotating shaft and the bearing; The forearm support plate and the upper arm limit support are both semicircular sheet structures, the left and right sides and the bottom of the forearm support plate and the upper arm limit support are closed, and the tops of the forearm support plate and the upper arm limit support are open; The axes of the forearm support plate and the upper arm limit support are in the same vertical plane; Velcro pieces are provided on the tops of the forearm support plate and the upper arm limit support.

2. The bidirectional auxiliary elbow joint rehabilitation training device according to claim 1, characterized in that: The adjusting groove is a waist-shaped hole with a transverse opening. A screw hole is provided on the top of the adjusting groove. A screw rod is installed in the screw hole on the top of the adjusting groove. The clamping block is locked in the adjusting groove by the screw rod.

3. The bidirectional auxiliary elbow joint rehabilitation training device according to claim 1, characterized in that: The chute base and the rear end of the support base are fixedly connected to form an integral structure through a flat plate, and the angle a between the front and rear ends of the support base is 30°.

4. The bidirectional auxiliary elbow joint rehabilitation training device according to claim 1, characterized in that: The spring is detachably installed between the slider and the drive motor; There are several different types of replacement springs available.

5. A training method for a bidirectionally assisted elbow joint rehabilitation training device, characterized in that: The training method requires providing a bidirectional auxiliary elbow joint rehabilitation training device as described in any one of claims 1 to 4, comprising the following steps: Step S1: Place the patient's arm on the support base and the flip bracket, support the upper arm with the support base and restrain the upper arm with Velcro on the support base; support the forearm with the flip bracket and restrain it with Velcro; Step S2: Attach the myoelectric sensor to the corresponding monitoring point on the patient's arm, detect the myoelectric signal, and transmit the data to the controller in the support base. The controller controls the drive motor to push the slider according to the pre-established myoelectric mapping model, controls the spring to generate the corresponding elastic force, and provides the support rod with a support force that matches the patient's muscle strength through the slider. The controller adapts the appropriate rehabilitation training mode based on the muscle force parameters calculated by the myoelectric signal detection. The system provides three different rehabilitation training modes, including: passive rehabilitation training, active rehabilitation training, and impedance rehabilitation training. Step S3, passive rehabilitation training: the electromyographic signal of the patient's arm is detected by an electromyographic sensor, and the patient's muscle strength information is obtained by calculating the data model. The spring is controlled to generate a greater elastic force by adjusting the distance between the drive motor and the slider, and the direction of the elastic force of the spring is consistent with the direction of movement of the forearm. The drive motor is repeatedly pushed back and forth along the slide base, and during the pushing stroke of the drive motor, the elastic force of the spring is sufficient to fully support the weight of the arm. Step S4, active rehabilitation training: detecting the electromyographic signal of the patient's arm through an electromyographic sensor, obtaining the patient's muscle strength information through data model calculation, controlling the spring to generate appropriate elastic force through the distance between the drive motor and the slider, and the direction of the elastic force of the spring is consistent with the direction of movement of the forearm, so that the elastic force of the spring is less than the weight sufficient to support the arm and provides different supporting forces according to different muscle forces obtained from different electromyographic signals, and the spring supporting force needs to be less than the sum of the patient's own muscle strength and the weight of the arm; The driving motor repeatedly pushes forward and backward along the chute base, and during the pushing stroke of the driving motor, the elastic force generated by the spring is kept in accordance with the setting; Step S5, impedance rehabilitation training: the electromyographic signal of the patient's arm is detected by an electromyographic sensor, and the patient's muscle strength information is obtained by calculating the data model; the spring is controlled by a driving motor to generate elastic force, and the direction of the elastic force of the spring is opposite to the direction of the forearm movement; The driving motor repeatedly pushes the slide base forward and backward, and according to different muscle forces obtained from different electromyographic signals, the spring is controlled by the distance between the driving motor and the slider to provide an elastic force of appropriate size and direction during the forward and backward movement of the driving motor, so that the sum of the elastic force of the spring and the weight of the arm is less than the muscle force of the elbow joint movement; Step S6, the drive motor controls the change in elastic force of the spring, and applies elastic force of passive rehabilitation training, active rehabilitation training, and resistance rehabilitation training to the elbow joint through the drive motor at different angles of the elbow joint within the range of rehabilitation training; Within the same range of motion of the elbow joint, rehabilitation training is performed by combining the passive rehabilitation training, active rehabilitation training and resistance rehabilitation training or performing a single training method.

6. The training method of the bidirectionally assisted elbow joint rehabilitation training device according to claim 5, characterized in that: During the resistance-type rehabilitation training, when the arm is retracted backward for rehabilitation training, the drive motor pulls the spring forward, causing the slider to generate a forward pulling force, thereby forming a reverse impedance to the bending of the elbow; When the arm is extended forward, the drive motor pushes the spring backward, causing the slider to generate a backward thrust, thereby forming a reverse impedance to the extension of the elbow through the support rod.

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