Intelligent planar rehabilitation equipment integrating upper limb and hand functions

Abstract

An intelligent planar rehabilitation device that integrates upper limb and hand functions includes a base pad and an upper limb rehabilitation component. The upper limb rehabilitation component includes an arm training base and a training glove. The arm training base is suitable for moving on the base pad. The training glove is mounted on the arm training base. The arm training base is suitable for placing the user's arm, and the training glove is suitable for being placed on the user's hand. The rehabilitation device can perform rehabilitation training on the patient's fingers while performing arm rehabilitation training. The device is easy to carry, so patients can use the device to perform upper limb rehabilitation training even without going to the hospital, making upper limb rehabilitation training a family-friendly and home-based experience, which brings great convenience to patients.

Description

Technical Field

[0001] The present application relates to the field of upper limb rehabilitation, and in particular to an intelligent planar rehabilitation device that integrates upper limb and hand functions. Background Art

[0002] Most patients with brain diseases are unable to control their upper limbs and upper limb movements due to the cause of the disease, and often suffer from upper limb and hand muscle atrophy. Therefore, after completing clinical treatment, they need to use upper limb and hand rehabilitation training equipment for rehabilitation training to help patients recover upper limb strength and hand function as soon as possible.

[0003] Upper limb rehabilitation training is based on a correct and comprehensive diagnosis, and is based on the premise of not aggravating the injury or affecting injury healing. It is conducive to physical activities that restore or improve function so that patients can restore their ability to live daily life, study, work, labor and social life as much as possible.

[0004] Accordingly, some upper limb rehabilitation devices and hand training devices have been developed. However, existing upper limb rehabilitation devices have some problems.

[0005] For example, many upper limb rehabilitation devices currently require a large footprint, are heavy, and difficult to move. Their operation is complex and relies heavily on the guidance of a rehabilitation therapist, often requiring patients to visit the hospital regularly for treatment, a significant inconvenience.

[0006] Furthermore, in theory, combining arm and hand functional training is more effective in clinical recovery. Currently, smart upper limb rehabilitation devices on the market typically only offer upper limb rehabilitation functions, primarily for arm translational training. Hand rehabilitation training, however, requires a separate hand training device, making it impossible to combine arm and hand rehabilitation training. This results in training models that aren't designed for the coordinated, natural movements of the arm and hand, leading to poor rehabilitation outcomes. Summary of the Invention

[0007] One advantage of the present application is that it provides an intelligent planar rehabilitation device that integrates the functions of upper limbs and hands, wherein the intelligent planar rehabilitation device that integrates the functions of upper limbs and hands can perform rehabilitation training on the patient's fingers while performing rehabilitation training on the arms.

[0008] Another advantage of the present application is that it provides an intelligent planar rehabilitation device that integrates the functions of the upper limbs and hands, wherein the intelligent planar rehabilitation device that integrates the functions of the upper limbs and hands allows the user to perform combined rehabilitation training of the hand joints and shoulder and elbow joints, and simulates the natural rehabilitation movements of the trainee's arms and hands during the process, so that the trainee's arms and hands can naturally recover their health.

[0009] Another advantage of the present application is that it provides an intelligent planar rehabilitation device that integrates the functions of the upper limbs and hands. The intelligent planar rehabilitation device that integrates the functions of the upper limbs and hands can be combined with games to train the patient's arms and fingers. Finger movement elements are added to the game scene, which can increase the fun and effectiveness of the rehabilitation training.

[0010] Another advantage of the present application is that it provides an intelligent planar rehabilitation device that integrates upper limb and hand functions, wherein the training gloves can be conveniently mounted on the arm training base, thereby making the intelligent planar rehabilitation device highly integrated.

[0011] Another advantage of the present application is that it provides an intelligent planar rehabilitation device that integrates the functions of upper limbs and hands. The intelligent planar rehabilitation device that integrates the functions of upper limbs and hands is easy to carry. In this way, patients can perform upper limb rehabilitation training through the intelligent planar rehabilitation device that integrates the functions of upper limbs and hands even without going to the hospital, so that upper limb rehabilitation training can be carried out at home, which brings great convenience to patients.

[0012] Another advantage of the present application is that it provides an intelligent planar rehabilitation device that integrates upper limb and hand functions. The device can be positioned using a base pad equipped with positioning elements, thereby confirming or correcting the training trajectory. The base pad can be deployed or fixed on any tabletop. This allows the device to be positioned without requiring a specific tabletop as a mobile platform, thus meeting positioning requirements while being portable.

[0013] In order to achieve at least one of the above advantages or other advantages and purposes, according to one aspect of the present application, an intelligent planar rehabilitation device integrating upper limb and hand functions is provided, comprising:

[0014] an arm training base; and

[0015] A training glove, wherein the training glove is suitable for connecting to the arm training base to perform rehabilitation training on the user's upper limbs and hands.

[0016] According to one embodiment of the present application, the arm training base includes a base, the training glove is installed on the base, the base is suitable for placing the user's arm, and the training glove is suitable for being put on the user's hand.

[0017] According to an embodiment of the present application, the training glove is fixedly mounted on the base and directly connected to the base.

[0018] According to an embodiment of the present application, the training glove is detachably mounted on the base and is suitable for being directly mounted on the base.

[0019] According to one embodiment of the present application, the arm training base further includes a handle, which is mounted on the base, and the training glove is mounted on the handle and indirectly mounted on the base through the handle.

[0020] According to one embodiment of the present application, the handle is movably mounted on the base.

[0021] According to one embodiment of the present application, the handle is fixedly or detachably mounted on the base.

[0022] According to an embodiment of the present application, the training gloves are detachably mounted on the handle.

[0023] According to one embodiment of the present application, the glove includes a plurality of phalangeal parts and at least one driver, each of the phalangeal parts includes a plurality of phalangeal divisions, the plurality of phalangeal divisions of each of the phalangeal parts are respectively suitable for corresponding to the multiple phalanges of the user's fingers, and the driver is connected to at least one of the phalangeal divisions.

[0024] According to one embodiment of the present application, the arm training base further includes an arm support, the arm support is mounted on the base, the arm training base further includes an adjustment rod, the handle is mounted on the adjustment rod, the adjustment rod is configured to be able to adjust the distance between the handle and the arm support, the adjustment rod is slidably set on the base or the arm support

[0025] According to one embodiment of the present application, the arm training base further includes a force sensor, which is arranged on the arm support and away from the handle to collect the force applied to the upper limb rehabilitation robot by the user's arm during translation.

[0026] According to one embodiment of the present application, it also includes a base pad, and the arm training base is suitable for planar movement on the base pad. The material of the lower surface of the base pad is selected from one or more of the following materials: felt, PVC (polyvinyl chloride), PU (polyurethane), leather, and velvet; the material of the upper surface of the base pad is selected from one or more of the following materials: felt, PVC (polyvinyl chloride), PU (polyurethane), and leather.

[0027] According to one embodiment of the present application, the arm training base also includes at least one positioning and identification device, the base pad includes a base pad body and a plurality of positioning elements, the positioning elements are arranged on the base pad body, the positioning elements are QR code patterns, and the positioning and identification device is a camera.

[0028] According to another aspect of the present application, the present application provides a shoulder, elbow, and finger joint combined training method, which comprises the steps of:

[0029] The user's shoulder and elbow joints are trained through the planar movement of the arm training base and the user's finger joints are trained through the training gloves, wherein the arm training base and the training gloves are integrated into the same intelligent planar rehabilitation device.

[0030] According to an embodiment of the present application, the joint training method includes at least one of the following training modes:

[0031] Simultaneously, the user's shoulder and elbow joints are trained by the planar movement of the arm training base, and the user's finger joints are trained by the training gloves;

[0032] First, the user's shoulder and elbow joints are trained by the planar movement of the arm training base, and then the user's finger joints are trained by the training gloves; and

[0033] First, the user's finger joints are trained through the training gloves, and then the user's shoulder and elbow joints are trained through the planar movement of the arm training base. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] These and / or other aspects and advantages of the present application will become more clear and easier to understand from the following detailed description of the embodiments of the present application in conjunction with the accompanying drawings, in which:

[0035] Figure 1 A schematic diagram of an application scenario of an intelligent planar rehabilitation device integrating upper limb and hand functions according to an embodiment of the present application is illustrated.

[0036] Figure 2 A schematic diagram of a training game interface used with the intelligent planar rehabilitation device integrating upper limb and hand functions according to an embodiment of the present application is shown.

[0037] Figure 3 A schematic diagram of another training game interface used in conjunction with the intelligent planar rehabilitation device integrating upper limb and hand functions according to an embodiment of the present application is illustrated.

[0038] Figure 4 A schematic diagram of another training game interface used in conjunction with the intelligent planar rehabilitation device integrating upper limb and hand functions according to an embodiment of the present application is illustrated.

[0039] Figure 5 A partial three-dimensional schematic diagram of an embodiment of an intelligent planar rehabilitation device integrating upper limb and hand functions according to an embodiment of the present application is illustrated.

[0040] Figure 6A partial stereoscopic schematic diagram of another embodiment of the intelligent planar rehabilitation device integrating upper limb and hand functions according to an embodiment of the present application is illustrated.

[0041] Figure 7 A partial three-dimensional schematic diagram of another embodiment of the intelligent planar rehabilitation device integrating upper limb and hand functions according to an embodiment of the present application is illustrated.

[0042] Figure 8 An exploded schematic diagram of an intelligent planar rehabilitation device integrating upper limb and hand functions according to an embodiment of the present application is illustrated. DETAILED DESCRIPTION

[0043] The terms and words used in the following description and claims are not limited to the bibliographical meanings, but are merely used by the inventor to enable a clear and consistent understanding of the present application. Therefore, it will be apparent to those skilled in the art that the following description of various embodiments of the present application is provided for illustration purposes only and not for the purpose of limiting the present application as defined by the appended claims and their equivalents.

[0044] It is to be understood that the term "one" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the elements may be multiple, and the term "one" should not be understood as a limitation on the quantity.

[0045] Although ordinal numbers such as "first," "second," and the like will be used to describe various components, these are not intended to limit those components. The terms are used solely to distinguish one component from another. For example, a first component could be referred to as a second component, and similarly, a second component could be referred to as a first component without departing from the teachings of the present disclosure. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0046] The terms used herein are for the purpose of describing various embodiments only and are not intended to be limiting. As used herein, the singular is intended to include the plural, unless the context clearly indicates otherwise. It will also be understood that the terms "comprising" and / or "having" when used in this specification specify the presence of a stated feature, number, step, operation, component, element, or combination thereof, and do not preclude the presence or addition of one or more other features, numbers, steps, operations, components, elements, or groups thereof.

[0047] Refer to the accompanying drawings of this application specification Figures 1 to 8As shown, the intelligent planar rehabilitation device with integrated upper limb and hand functions according to an embodiment of the present invention is illustrated. The intelligent planar rehabilitation device 100 with integrated upper limb and hand functions can perform rehabilitation training on the patient's fingers while performing rehabilitation training on the arm, and the intelligent planar rehabilitation device 100 with integrated upper limb and hand functions is easy to carry. In this way, the user 300 can perform upper limb rehabilitation training through the intelligent planar rehabilitation device 100 with integrated upper limb and hand functions even if he does not go to the hospital, so that upper limb rehabilitation training can be family-oriented and home-based, which brings great convenience to the user 300. Of course, it can be understood that the intelligent planar rehabilitation device with integrated upper limb and hand functions according to the embodiment of the present invention can also be placed in a hospital for use, and the present invention is not limited in this respect.

[0048] Specifically, if Figure 1 As shown, the intelligent planar rehabilitation device 100 for integrated upper limb and hand functions includes a base pad 10 and an upper limb rehabilitation component 20. The base pad 10 is adapted to be unfolded and placed on any tabletop 200, such as a height-adjustable table. The upper limb rehabilitation component 20 is adapted to accommodate the upper limbs of a user 300 and to move along with the upper limbs of the user 300 on the base pad 10, thereby providing rehabilitation training for the upper limbs of the user 300.

[0049] More specifically, the base pad 10 includes a base pad body 11 and a plurality of positioning elements 12. The base pad body 11 has an upper base pad surface 101 and a lower base pad surface 102, the upper base pad surface 101 and the lower base pad surface 102 being opposite to each other. The positioning elements 12 are disposed on the upper base pad surface 101 of the base pad body 11.

[0050] In order to prevent the base pad 10 from sliding relative to the desktop 200 or other platforms when it is placed on the desktop 200 or other platforms, the base pad lower surface 102 of the base pad main body 11 has certain structural characteristics, so that when it is placed on the desktop 200 or other platforms, there is a certain friction between it and the desktop 200 or other platforms, so that the base pad 10 is not easy to move during its use. For example, the base pad lower surface 102 can be made of the following materials: felt, PVC (polyvinyl chloride), PU (polyurethane), leather, velvet, etc., wherein the leather can be foam leather. In addition, the base pad upper surface 101 of the base pad main body 11 has certain structural characteristics, so that when the upper limb rehabilitation component 20 moves on the base pad 10, there is a certain friction between it and the base pad 10, so as to prevent the upper limb rehabilitation component 20 from slipping when moving on the base pad 10. For example, the base pad upper surface 101 can be made of the following materials: felt, PVC (polyvinyl chloride), PU (polyurethane), leather, etc.

[0051] The positioning element 12 cooperates with the positioning identification device 24 to locate the position of the upper limb rehabilitation component 20, and then determine or correct the training trajectory. The positioning identification device 24 will be introduced in more detail later. The specific implementation of the positioning element 12 is not limited to this application. For example, in some embodiments, the positioning element 12 is implemented as a QR code pattern. In some embodiments of the present application, the positioning element 12 is implemented as a marking dot matrix. The marking dot matrix can be an array formed by the arrangement of multiple laser light-emitting points, or it can be an array formed by multiple non-luminous points with specific markings. Of course, the positioning element 12 can also be implemented in other embodiments, for example, a magnetic sheet.

[0052] It is worth mentioning that each QR code pattern can be formed by combining multiple split patterns. For example, in one example of the present application, a QR code pattern includes four split patterns, and the four split patterns are arranged in a preset manner. The implementation method of each split pattern is not limited to the present application. For example, it can be implemented as a QR code, that is, a QR code pattern can be formed by combining multiple independent QR codes. The four independent QR codes are combined together to provide redundancy for the visual algorithm, thereby improving the recognition accuracy.

[0053] When the positioning element 12 is implemented as a QR code pattern or a non-luminous dot with a specific mark, the positioning element 12 can be set on the base pad body 11 by printing. It should be understood that the positioning element 12 can also be set on the base pad body 11 by other means, such as pasting, drawing, printing, etc.

[0054] The upper limb rehabilitation assembly 20 includes an arm training base and a training glove 29 to provide rehabilitation training for the arms and hands of a user 300. The arm training base includes a base 21, at least one handle 22, an arm rest 26, at least one force sensor 28, and at least one positioning identification device 24. The base 21 has an upper surface 201 and a lower surface 202. When the base 21 moves on the base pad 10, the lower surface 202 of the base 21 faces the base pad 10.

[0055] In some embodiments, the base 21 includes a bottom shell 211 and an upper cover 212. The upper cover 212 is buckled with the bottom shell 211. Figure 3 As shown. A storage space is formed between the base bottom shell 211 and the base cover 212, which can be used to accommodate other components of the intelligent planar rehabilitation device 100 with integrated upper limb and hand functions; for example, the air pump 2101, valve 2102, circuit board 2103, and battery mentioned below. The lower surface of the base bottom shell 211 forms the lower surface of the base 21, i.e., the base lower surface 202.

[0056] The base 21 also includes at least one driving wheel 213, which at least partially protrudes from the lower surface 202 of the seat and can play a supporting role. The bottom surface of the driving wheel 213 can be a curved surface, which facilitates the movement of the upper limb rehabilitation component 20 on the base pad 10. Accordingly, the driving wheel 213 can be a sphere or a hemisphere. Optionally, the driving wheel 213 can be movably, for example, rotatably mounted on the seat bottom shell 211, or fixed to the seat bottom shell 211.

[0057] The base 21 is suitable for placing the arm of the user 300. A part of the base 21 can be formed into an arm support 26, or a separate arm support 26 can be configured and set on the base 21. The arm support 26 is used to provide support for the arm of the user 300. Optionally, the arm support 26 has a receiving cavity 261 for accommodating and restraining the arm of the user 300. The extension direction of the arm support 26 is consistent with the length direction D of the base 21. The length direction D of the base 21 is consistent with the extension direction of the part of the arm of the user 300 placed in the arm support 26 when the user 300 performs rehabilitation training through the upper limb rehabilitation device.

[0058] It is worth mentioning that in some existing upper limb plane rehabilitation devices, when the user 300 is undergoing rehabilitation training through the upper limb rehabilitation device, the part used to place the user's 300 arm, that is, the arm support part, is in a suspended state. The center of gravity of the user's 300 arm corresponds to the suspended arm support part, which makes the upper limb plane rehabilitation device easy to tip over.

[0059] In an embodiment of the present application, the arm support 26 can be movably mounted on the base 21, so that when the user 300 performs rehabilitation training through the upper limb plane rehabilitation device 100 of the present application, the arm support 26 can adjust its position as needed to prevent the device from tipping over.

[0060] In some embodiments of the present application, the upper limb rehabilitation assembly 20 further includes an adjustment rod 27. The adjustment rod 27 is slidably mounted on the base 21, and the length direction of the adjustment rod 27 is consistent with the extension direction of the arm support 26. The arm support 26 can be fixed to the base 21, and the handle 22 is connected to the adjustment rod 27 via the handle mounting member 23. The adjustment rod 27 is slidable to adjust the distance between the arm support 26 and the handle 22 to accommodate different arm lengths of different people. In this way, when the user's hand grasps the handle 22, the user's 300 elbow is supported by the arm support 26, thereby preventing the user's 300 elbow from being suspended in the air and the center of gravity from being outside the upper limb rehabilitation assembly 20, which may cause the upper limb rehabilitation assembly 20 to tip over.

[0061] In some embodiments, the adjustment rod 27 is movably mounted to the arm support 26. For example, the adjustment rod 27 is slidably mounted to the arm support 26, allowing the adjustment rod 27 to "extend" relative to the base 21. When the adjustment rod 27 is in the "extended" state, the arm support 26 is farther away from the handle 22. When the adjustment rod 27 is in the "retracted" state, the arm support 26 is closer to the handle 22. In other words, the distance between the adjustment rod 27 and the handle 22 is greater when the adjustment rod 27 is in the "extended" state than when it is in the "retracted" state.

[0062] It should be understood that the adjustment rod 27 can be movably mounted on the base 21 in other ways. For example, the adjustment rod 27 itself can be a telescopic rod. For example, the adjustment rod 27 itself can be made of a telescopic material; the adjustment rod 27 can at least partially have a stretchable elastic structure; the adjustment rod 27 can at least partially be a telescopic tube; or the adjustment rod 27 can include multiple sections of a tube that are telescoped within each other.

[0063] The training glove 29 is adapted to be placed on a user's hand 301 and to move with the user's hand 301. Specifically, the training glove 29 includes a plurality of phalangeal portions 292, at least one finger sleeve 291, and at least one actuator 293. The finger sleeve 291 is provided with the phalangeal portion 292 for placement on the user's 300 finger. Each phalangeal portion 292 includes a plurality of phalangeal sections 2921, each of which is adapted to correspond to multiple phalanges of the user's finger. The actuator 293 is connected to at least one phalangeal section 2921. The actuator can drive the phalangeal section 2921 to move, and through the phalangeal section 2921, drive the movement of the phalanges of the finger.

[0064] The specific manner in which the driver 293 drives the bone finger section 2921 is not limited by the present application. For example, the bone finger section 2921 can be driven by pneumatic action. The driver 293 can be implemented as a telescopic tube having a ventilation channel. When one side of the telescopic tube is extended or retracted, the bone finger section 2921 is driven to move. Accordingly, the training glove can be configured with a controller 2100, and the controller 2100 includes an air pump 2101, a valve 2102, and a circuit board 2103. A connecting line 294 can be provided between the air pump 2101 and the driver 293 implemented as the telescopic tube. The connecting line 294 has an air channel, and the air channel of the connecting line 294 is connected to the telescopic tube. The valve 2102 can be a solenoid valve or other types of valves. The valve is connected to the air pump 2101 for controlling the opening and closing of the air pump 2101 , and the circuit board 2103 is connected to the valve 2102 for controlling the working state of the valve 2102 .

[0065] Optionally, the connecting wire 294 can be plugged into the air pump 2101. Accordingly, the base 21 has a wiring port 206. The connecting wire 294 can pass through the wiring port and be plugged into the air pump 2101.

[0066] The upper limb rehabilitation component 20 further includes a battery 2110 for supplying power to the upper limb rehabilitation component 20. The battery 2110 is connected to the circuit board 2103.

[0067] The installation method of the training glove 29 is not limited by the present application. In some embodiments, the training glove 29 is fixedly installed on the base 21 and directly connected to the base 21, such as Figure 5 As shown. That is, conventional upper limb rehabilitation robots are generally equipped with a handle for the user 300 to hold during rehabilitation training. However, in the present application, the position of the handle can be replaced by the training glove 29, so that during training, the user's hand can be accommodated in the training glove 29. That is, when the user 300 only trains his arms, his hands can also be accommodated by the training glove 29. When the user 300 trains his arms and hands at the same time, his arms are trained through the arm training base and his hands are trained through the training glove 29, thereby achieving joint training of the shoulder and elbow joints and finger joints at the same time. In some embodiments, the training glove 29 is detachably mounted on the base 21 and is suitable for being directly connected to the base 21. In some embodiments, the upper limb rehabilitation component 20 is provided with a handle 22, the handle 22 is mounted on the base 21, and the training glove 29 is mounted on the handle 22, as shown in FIG. Figure 6 and Figure 7As shown, the training glove 29 is indirectly mounted on the base 21 via the handle 22. For example, the training glove 29 is fixedly mounted on the handle 22; or, the training glove 29 is movably mounted on the handle 22; or, the training glove 29 is detachably mounted on the handle 22.

[0068] Specifically, the type of the handle 22 is not limited by the present application. In some embodiments of the present application, the handle 22 is implemented as a longitudinal handle 221 (such as Figure 6 As shown). The longitudinal grip 221 extends in a direction that is at least partially perpendicular to the upper surface 201 of the base 21. In this way, the user 300 can hold the grip 22 longitudinally. In some embodiments of the present application, the grip 22 is implemented as a transverse grip 222 (e.g., Figure 7 (as shown). At least a portion of the lateral handle 222 extends in a direction substantially parallel to the upper surface 201 of the base 21. This allows the user 300 to grip the handle 22 in a horizontal position. The handle 22 has a connecting end 223, which is mounted to the base 21. In some embodiments, when the handle 22 is implemented as the lateral handle 222, the lateral handle 222 further includes at least one connecting arm 224, which extends between the connecting end 223 and a laterally extending portion of the lateral handle 222. The laterally extending portion of the lateral handle 222 refers to the portion of the lateral handle 222 whose extension direction is substantially aligned with the upper surface 201 of the base 21.

[0069] Optionally, the handle 22 is detachably mounted on the base 21. This allows the user 300 to replace the handle 22 as needed. For example, if the handle 22 is damaged, a new handle 22 may be replaced; if a different gripping posture is required, a different type of handle 22 may be replaced; or if a different user 300 uses the handle, a suitable handle 22 may be replaced.

[0070] Optionally, the handle 22 is rotatably mounted on the base 21. In this way, the user 300 can practice not only translational motion but also rotational motion.

[0071] In this embodiment of the present application, the intelligent planar rehabilitation device 100 for integrated upper limb and hand functions further includes a handle mounting member 23. The handle mounting member 23 is mounted to the base 21, and the handle 22 is mounted to the handle mounting member 23. In other words, the handle 22 is mounted to the base 21 via the handle mounting member 23. In embodiments where the handle 22 is rotatably mounted to the base 21, the handle mounting member 23 can be rotatably mounted to the base 21, with the handle 22 fixed to the handle mounting member 23; alternatively, the handle mounting member 23 can be fixed to the base 21, with the handle 22 rotatably mounted to the handle mounting member 23.

[0072] It is worth mentioning that in the embodiment of the present application, the upper limb rehabilitation component 20 is provided with a force sensor 28, which can collect the force between the upper limb of the user 300 and the upper limb rehabilitation component 20 when the arm is translated. The processor connected to the force sensor 28 can further determine the direction of movement of the arm based on the data collected by the force sensor 28, and then determine or correct the training trajectory. It is understandable that in other embodiments, the upper limb rehabilitation component 20 may not be provided with the force sensor 28, so that the user's arm 301 moves along with the movement of the upper limb rehabilitation component 20.

[0073] Theoretically, the force sensor 28 can be set on the handle 22. However, the present application takes into account that in the process of the processor further determining the movement direction of the arm 301 based on the data collected by the force sensor 28, the movement trend of the arm 301 is mainly determined by the friction between the arm 301 and the upper limb rehabilitation component 20 when the arm 301 moves horizontally, and then the training trajectory is determined; when the force sensor 28 is set on the handle 22, the user 300's wrist rotates, or the user 300's hand performs some activities, which may cause the force sensor 28 to collect data, causing the processor to mistakenly determine that the friction between the arm 301 and the upper limb rehabilitation component 20 when the arm 301 moves horizontally causes the force sensor 28 to collect data, when in fact the arm 301 does not move horizontally.

[0074] Accordingly, the present application proposes to place the force sensor 28 on the arm rest 26 to avoid misjudgment. In other words, the force sensor 28 placed on the arm rest 26 captures the movement trend of the arm on the arm rest 26, preventing the force sensor 28 from collecting hand data and obtaining inaccurate translation trend information.

[0075] The positioning and identification device 24 is installed on the base 21. As mentioned above, the positioning element 12 cooperates with the positioning and identification device 24 to locate the position of the upper limb rehabilitation component 20, and then determine or correct the training trajectory. Specifically, the positioning and identification device 24 can be set according to the way it cooperates with the positioning element 12. For example, when the positioning element 12 is the QR code pattern or the marking dot matrix, the positioning and identification device 24 can be implemented as a camera 241. During the movement of the upper limb rehabilitation component 20, the camera 241 can capture and identify the QR code pattern or the marking dot matrix, and then determine the position of the upper limb rehabilitation component 20, and determine the movement trajectory of the upper limb rehabilitation component 20 and the training trajectory of the user 300. When the positioning element 12 is a magnetic sheet, the positioning and identification device 24 can be implemented as a Hall sensor, which can determine the position of the upper limb rehabilitation component 20 based on the change in the magnetic field, and determine the movement trajectory of the upper limb rehabilitation component 20 and the training trajectory of the user 300.

[0076] When the positioning identification device 24 is implemented as a camera 241, it can be installed on both sides of the upper limb rehabilitation component 20. The data collected by the cameras 241 installed on both sides of the upper limb rehabilitation component 20 can be fused and processed, making the final real-time position and movement trajectory of the upper limb rehabilitation component 20 more accurate.

[0077] Accordingly, the base 21 has a first side portion 203 and a second side portion 204. The first side portion 203 and the second side portion 204 are opposite to each other in the width direction of the base 21. The width direction of the base 21 is perpendicular to the length direction D of the base 21. The upper limb rehabilitation assembly 20 includes two cameras 241, which are located on the first side portion 203 and the second side portion 204 of the base 21.

[0078] The specific installation method of the camera 241 is not limited by the present application. In one embodiment of the present application, the camera 241 is housed in the base 21. Figure 8 As shown. Specifically, the upper limb rehabilitation component 20 further includes at least one camera bracket 25, which is installed between the base bottom shell 211 and the base top cover 212 of the base 21. The camera 241 is installed on the camera bracket 25. The base 21 has two light-transmitting portions 205 corresponding to the cameras 241, so that the camera 241 can photograph the positioning element 12 outside the base 21 through the light-transmitting portions 205. The light-transmitting portions 205 can be implemented as through holes or as light-transmitting covers.

[0079] It should be understood that the camera 241 can also be installed at other locations, for example, above the base 21.

[0080] It is worth mentioning that in order to ensure that the camera 241 can capture the positioning element 12 adjacent to the side of the upper limb rehabilitation component 20, the installation angle of the camera 241 is designed. Specifically, the camera bracket 25 has a camera mounting surface 251. The camera 241 is installed on the camera mounting surface 251. The camera mounting surface 251 is inclined relative to the base pad 10, so that the camera 241 can identify the positioning element 12 on the side of the upper limb rehabilitation component 20. In this application, the acute angle between the camera mounting surface 251 and the plane where the upper surface 101 of the base pad is located is used as the installation angle of the camera 241.

[0081] Accordingly, the angle between the camera mounting surface 251 and the plane on which the upper surface of the base pad 10 lies is greater than 0 degrees and less than 90 degrees. In some embodiments of the present application, the angle between the camera mounting surface 251 and the plane on which the upper surface of the base pad 10 lies is greater than or equal to 60 degrees and less than or equal to 80 degrees. In one example, the angle between the camera mounting surface 251 and the plane on which the upper surface of the base pad 10 lies is 68 degrees.

[0082] In the present application, the angle between the camera mounting surface 251 and the plane where the upper surface of the base pad 10 is located specifically refers to the acute angle between the camera mounting surface 251 and the plane where the upper surface of the base pad 10 is located.

[0083] It's worth noting that when user 300 undergoes rehabilitation training using the intelligent planar rehabilitation device 100 that integrates upper limb and hand functions, they can choose between active, assisted, and passive training modes. In active mode, user 300 actively moves their arm, driving the upper limb planar rehabilitation device to move; in assisted mode, user 300 moves their arm with the assistance of the upper limb planar rehabilitation device; and in passive mode, user 300 is completely driven by the upper limb planar rehabilitation device to move their arm.

[0084] The intelligent planar rehabilitation device 100 with integrated upper limb and hand functions can be connected to a terminal device 400. The user 300 can select a training mode through the terminal device 400. It should be understood that other auxiliary functions can also be implemented through the terminal device 400, such as combining training with terminal games and viewing real-time movement trajectories.

[0085] The intelligent planar rehabilitation device that integrates upper limb and hand functions can be combined with games to train the patient's arms and fingers. That is, in the traditional upper limb rehabilitation robot rehabilitation training game scene, only the translation game adds finger action elements, which can increase the fun and effectiveness of rehabilitation training. Specifically, in the setting interface of the software of the terminal device 400, check the box to turn on the gloves, and you can start the glove function with one click. At the same time as the upper limb rehabilitation training movements, adding glove training movements and combining the two together are more in line with the actual life use scenario and have better rehabilitation effects.

[0086] For example, Figure 2 As shown, in a "Monkey Catches Banana" game, the user 300 places his arm on the armrest 26 of the upper limb rehabilitation component 20, and his hand 301 wears a training glove 29; the position of the upper limb rehabilitation component 20 on the base pad 10 corresponds to the position of the monkey in the game interface.

[0087] The first target position is the current position of the banana. The user 300 needs to move his arm to make the upper limb rehabilitation component 20 reach the current target point. The area within a certain distance from the first target position will be used as the glove operation area. Figure 2 As shown, the red circle outside the banana represents a glove operation area. When the user 300 and the upper limb rehabilitation component 20 move to the position on the base mat 10 corresponding to the glove operation area, the training glove 29 starts to drive the user's 300 fingers to perform a gripping action. After the user 300 and the upper limb rehabilitation component 20 move to the position on the base mat 10 corresponding to the banana, they move toward the position on the base mat 10 corresponding to the next target position in the game, and move out of the area corresponding to the current glove gripping area. At this time, the training glove 29 drives the user's 300 fingers to perform an extension action. When the user 300 and the upper limb rehabilitation component 20 move into the glove operation area on the base mat 10 corresponding to the next target position, the training glove 29 starts to drive the user's 300 fingers to perform a gripping action. This is repeated until the training time ends or the user exits the training mode early. After exiting, the training glove 29 drives the user's 300 fingers to perform an extension action, making it easier for the user to take it off.

[0088] like Figure 3 and Figure 4 As shown, in a "kitchen" game in a life scene, the user 300's arm is placed on the armrest 26 of the upper limb rehabilitation component 20, and the hand 301 wears a training glove 29; the position of the upper limb rehabilitation component 20 on the base pad 10 will correspond to the position of the small hand in the game interface.

[0089] When the user 300 and the upper limb rehabilitation component 20 move to the position on the base mat 10 corresponding to the target ingredient, the training glove 29 begins to cause the user's fingers to clench, simulating the actual act of grabbing the ingredient. Subsequently, when the user 300 and the upper limb rehabilitation component 20 move to the position on the base mat 10 corresponding to the cutting board, the training glove 29 causes the user's fingers to extend, simulating the act of placing the ingredient. The user 300 and the upper limb rehabilitation component 20 then move to the position on the base mat 10 corresponding to the knife. At this point, the training glove 29 begins to cause the user's fingers to clench, simulating the act of grasping the knife. The user 300 and the upper limb rehabilitation component 20 then move back and forth between the positions on the base mat 10 corresponding to the target ingredient placed on the cutting board, simulating the act of cutting the ingredient. The user 300 and the upper limb rehabilitation component 20 then move to the position on the base mat 10 corresponding to the initial position of the knife. At this point, the training glove 29 causes the user's fingers to extend, simulating the act of placing the knife. Then, the user 300 and the upper limb rehabilitation component 20 move to a position corresponding to another target ingredient on the base mat 10 and repeat the above process. While the user 300 plays the game, they can also combine the rehabilitation exercises for upper limb and hand functions to achieve better rehabilitation results.

[0090] It can be understood that the present application accordingly provides a joint training method for shoulder, elbow and finger joints, which trains the shoulder and elbow joints of the user 300 through the planar movement of the arm training base, and trains the finger joints of the user 300 through the training gloves 29.

[0091] In some embodiments, during a training session, the user 300's shoulder and elbow joints can be trained using the arm training base while the user's finger joints can be trained using the training gloves 29. For example, in the aforementioned "kitchen" game, the user 300 and the upper limb rehabilitation component 20 can perform translational movements and finger gripping on the base mat 10 corresponding to target ingredients placed on the chopping board, simulating the action of cutting ingredients.

[0092] In some embodiments, during a training process, the shoulder and elbow joints of the user 300 are first trained through the arm training base, and then the finger joints of the user 300 are trained through the training gloves 29. For example, in the above-mentioned "Monkey Catching Banana" game, when the user 300 and the upper limb rehabilitation component 20 move to the position on the base mat 10 corresponding to the glove working area, the shoulder and elbow joints of the user 300 are trained, and then the training gloves 29 gloves begin to drive the fingers of the user 300 to perform a clenching action, so that the finger joints of the user 300 are trained. For example, in the above-mentioned "Kitchen" game, when the user 300 and the upper limb rehabilitation component 20 move to the position on the base mat 10 corresponding to the target ingredients, the shoulder and elbow joints are trained, and then the training gloves 29 gloves begin to drive the fingers of the user 300 to perform a clenching action, simulating the actual action of grabbing the ingredients, thereby training the finger joints of the user 300.

[0093] In some embodiments, during a training process, the user 300's finger joints are first trained using the training gloves 29, and then the user 300's shoulder and elbow joints are trained using the arm training base. For example, in the aforementioned "kitchen" game, the user can use the training gloves 29 to train the user's finger joints to first grasp ingredients in the game scene, and then train the user's shoulder and elbow joints by moving the arm training base of the upper limb rehabilitation component 20. When the user 300 and the upper limb rehabilitation component 20 move to the position on the base mat 10 corresponding to the chopping board, the training gloves 29 drive the user's 300 fingers to perform an extension motion, simulating the action of putting down ingredients.

[0094] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in this application are merely examples and not limitations, and it should not be assumed that these advantages, strengths, effects, etc. are required for each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, and are not limitations. The above details do not limit the present application to being implemented by adopting the above specific details. The functional and structural principles of the present application have been demonstrated and explained in the embodiments. Without departing from the principles, the embodiments of the present invention may be subjected to any deformation or modification.

Claims

1. An intelligent planar rehabilitation device integrating upper limb and hand functions, characterized in that: include: An arm training base, wherein the arm training base includes a base, at least one handle, an arm rest, and at least one force sensor; The handle is mounted on the base; the arm support is mounted on the base; the arm support is used to provide support for the user's arm; and a training glove, wherein the training glove is mounted on the handle and indirectly mounted on the base through the handle; the training glove is suitable for being put on the hand of a user to perform rehabilitation training on the user's upper limbs and hands; The training glove and the arm training base form an upper limb rehabilitation component of the intelligent planar rehabilitation device that integrates upper limb and hand functions; the force sensor is arranged on the arm support and away from the handle to collect the force between the user's upper limb and the upper limb rehabilitation component when the arm moves horizontally. The force sensor arranged on the arm support obtains the movement trend of the arm on the arm support, so that the processor connected to the force sensor further determines the movement direction of the arm based on the data collected by the force sensor, and then determines or corrects the training trajectory; The intelligent planar rehabilitation equipment with integrated upper limb and hand functions also includes a base pad, and the arm training base is suitable for planar movement on the base pad. The material of the lower surface of the base pad is selected from one or more of the following materials: felt, polyvinyl chloride, polyurethane, leather, and velvet; the material of the upper surface of the base pad is selected from one or more of the following materials: felt, polyvinyl chloride, polyurethane, and leather; the arm training base also includes at least one positioning and identification device, and the base pad includes a base pad main body and multiple positioning elements, the positioning elements are arranged on the base pad main body, the positioning elements are QR code patterns, and the positioning and identification device is a camera.

2. The intelligent planar rehabilitation device integrating upper limb and hand functions according to claim 1, wherein: The training glove is fixedly mounted on the base and directly connected to the base.

3. The intelligent planar rehabilitation device integrating upper limb and hand functions according to claim 1, wherein: The training glove is detachably mounted on the base and is suitable for being directly mounted on the base.

4. The intelligent planar rehabilitation device integrating upper limb and hand functions according to claim 1, wherein: The handle is movably mounted on the base.

5. The intelligent planar rehabilitation device integrating upper limb and hand functions according to claim 1, wherein: The handle is fixedly or detachably mounted on the base.

6. The intelligent planar rehabilitation device integrating upper limb and hand functions according to claim 1, wherein: The training gloves are detachably mounted on the handle.

7. The intelligent planar rehabilitation device integrating upper limb and hand functions according to any one of claims 1 to 6, wherein: The glove includes multiple phalanges and at least one driver, each of the phalanges includes multiple phalange divisions, and the multiple phalange divisions of each phalange are respectively suitable for corresponding to multiple phalanges of the user's fingers. The driver is connected to at least one phalange division.

8. The intelligent planar rehabilitation device integrating upper limb and hand functions according to claim 1, wherein: The arm training base also includes an adjustment rod, the handle is installed on the adjustment rod, the adjustment rod is configured to adjust the distance between the handle and the arm support, and the adjustment rod is slidably set on the base or the arm support.

9. A joint training method for shoulder, elbow and finger joints, characterized in that: Including steps: The user's shoulder and elbow joints are trained by the planar movement of the arm training base, and the user's finger joints are trained by the training gloves, wherein the arm training base and the training gloves are integrated into the same intelligent planar rehabilitation device; the training gloves and the arm training base form an upper limb rehabilitation component of the intelligent planar rehabilitation device that integrates upper limb and hand functions; The arm training base includes a base, at least one handle, an arm rest, and at least one force sensor; the handle is mounted on the base; the arm rest is mounted on the base; the arm rest is used to provide support for the user's arm; the force sensor is arranged on the arm rest and away from the handle to collect the force between the user's upper limb and the upper limb rehabilitation component when the arm moves horizontally, so that the processor connected to the force sensor can further determine the movement direction of the arm based on the data collected by the force sensor, and then determine or correct the training trajectory; In which, the arm training base moves in a plane on a base pad, and locates the position of the upper limb rehabilitation component through the cooperation of a positioning element and a positioning identification device, thereby determining or correcting the training trajectory; the material of the lower surface of the base pad is selected from one or more of the following materials: felt, polyvinyl chloride, polyurethane, leather, and velvet; the material of the upper surface of the base pad is selected from one or more of the following materials: felt, polyvinyl chloride, polyurethane, and leather; the base pad includes a base pad main body and a plurality of positioning elements, the positioning elements are arranged on the base pad main body, and the positioning elements are QR code patterns; the positioning identification device is installed on the base, and the positioning identification device is a camera.

10. The shoulder, elbow and finger joint combined training method according to claim 9, wherein: The joint training method includes at least one of the following training modes: Simultaneously, the user's shoulder and elbow joints are trained by the planar movement of the arm training base, and the user's finger joints are trained by the training gloves; First, the user's shoulder and elbow joints are trained by the planar movement of the arm training base, and then the user's finger joints are trained by the training gloves; and First, the user's finger joints are trained through the training gloves, and then the user's shoulder and elbow joints are trained through the planar movement of the arm training base.

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