Upper limb rehabilitation training device and method

Abstract

The present application discloses an upper limb rehabilitation training device and method, which are applied in the field of medical device technology, and include: a multi-directional air outlet device with multiple fans; a deformable handle for holding, and a closed cavity inside the handle; a gas pressure sensor for detecting the gas pressure in the closed cavity; a posture sensor for detecting the motion information of the upper limb rehabilitation training device; a controller for maintaining the working state when the gas pressure is within a first range, and when in the working state, determining the posture and moving path of the upper limb rehabilitation training device based on the motion information, and controlling the speed of each fan based on the current working mode, so that the multi-directional air outlet device provides the upper limb rehabilitation training device with assistance or resistance on the moving path. The scheme of the present application can effectively realize upper limb rehabilitation, and improve the safety, flexibility and convenience of rehabilitation.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an upper limb rehabilitation training device and method. Background Art

[0002] The upper limbs of the body are involved in most movements in daily activities. When the motor function of the upper limbs is damaged, it will have a serious impact on the patient's motor ability and quality of life. The upper limb rehabilitation training device can help the patient's upper limb muscles and joints to recover movements. Its working process needs to have a certain degree of flexibility and applicability, and be suitable for the muscle movements of different positions of the patient's upper limbs, namely the muscles of the fingers, wrists, forearms and upper arms, thereby improving the phenomenon of arm muscle atrophy.

[0003] With the continuous development of upper limb rehabilitation device related technologies and robotics technology, upper limb rehabilitation robots are currently a research hotspot. The current upper limb rehabilitation robot is a wearable human-machine integrated mechanical training device that can rebuild or enhance the wearer's upper limb movement ability and has broad application prospects in the fields of medical rehabilitation, human-machine collaborative work, etc. However, due to the limitations of device size and cost, most of the upper limb rehabilitation robots that have been developed need to be deployed in rehabilitation centers or hospitals, leaving patients with insufficient time for training, which is not conducive to the rehabilitation of their upper limbs.

[0004] In summary, how to effectively achieve upper limb rehabilitation and improve the convenience of rehabilitation is a technical problem that technical personnel in this field urgently need to solve. Summary of the invention

[0005] The purpose of the present invention is to provide an upper limb rehabilitation training device and method to effectively achieve upper limb rehabilitation and improve the convenience of rehabilitation.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0007] In a first aspect, the present invention provides an upper limb rehabilitation training device, comprising:

[0008] A multi-directional air outlet device with multiple fans;

[0009] A deformable handle connected to the multi-directional air outlet device for holding, wherein the handle has a sealed cavity inside;

[0010] A gas pressure sensor for detecting the gas pressure in the closed cavity and sending the pressure to a controller;

[0011] A posture sensor for detecting motion information of the upper limb rehabilitation training device and sending the motion information to the controller;

[0012] The gas pressure sensor, the posture sensor and the controller connected to each of the fans are respectively used to maintain the upper limb rehabilitation training device in a working state when the gas pressure is within a first range. When in the working state, the posture and moving path of the upper limb rehabilitation training device are determined based on the motion information, and the speed of each fan is controlled based on the current working mode, so that the multi-directional air outlet device provides assistance or resistance on the moving path of the upper limb rehabilitation training device.

[0013] In one embodiment, the multi-directional air outlet device is specifically a three-dimensional air outlet device, and at least one fan is arranged in the X-axis direction of the three-dimensional air outlet device, at least one fan is arranged in the Y-axis direction of the three-dimensional air outlet device, and at least one fan is arranged in the Z-axis direction of the three-dimensional air outlet device.

[0014] In one embodiment, the three-dimensional wind outlet device is specifically a three-dimensional wind ball, and two fans are symmetrically arranged in the X-axis direction of the three-dimensional wind ball, two fans are symmetrically arranged in the Y-axis direction of the three-dimensional wind ball, and two fans are symmetrically arranged in the Z-axis direction of the three-dimensional wind ball. At any time, the rotation speed and rotation direction of the two fans in the same axis are consistent; and the blade angle of each of the fan blades gradually increases from the tip to the root.

[0015] In one embodiment, the handle comprises:

[0016] Deformable soft handle shell;

[0017] A hard support portion is fixed inside the soft handle shell, a gap exists between the hard support portion and the soft handle shell, and a through hole penetrating the hard support portion is provided in the hard support portion so that the through hole is connected with the gap, and one end of the through hole is used to set the gas pressure sensor.

[0018] In one embodiment, the controller is further configured to:

[0019] The moving path of the upper limb rehabilitation training device is sent to a host computer through a wireless communication device, so that the host computer compares the moving path with a standard moving path in a first display screen and obtains a comparison result.

[0020] In one implementation, the current working mode includes a fixed power-assisting mode, and when the current working mode is the fixed power-assisting mode, the controller is specifically configured to:

[0021] When the gas pressure is within the first range, the working state is maintained;

[0022] When in working state, based on the power assist gear of the current fixed power assist mode, determining the power assist amount to be provided corresponding to the power assist gear;

[0023] Based on the motion information, the posture and moving path of the upper limb rehabilitation training device are determined and the speed of each fan is controlled so that the multi-directional air outlet device provides assistance to the upper limb rehabilitation training device on the moving path, and the amount of assistance provided is equal to the amount of assistance to be provided.

[0024] In one embodiment, the current working mode includes a fixed resistance mode, and when the current working mode is the fixed resistance mode, the controller is specifically configured to:

[0025] When the gas pressure is within the first range, the working state is maintained;

[0026] When in working state, based on the resistance level of the current fixed resistance mode, the resistance level to be provided corresponding to the resistance level is determined;

[0027] Based on the motion information, the posture and moving path of the upper limb rehabilitation training device are determined and the speed of each fan is controlled so that the multi-directional air outlet device provides resistance on the moving path of the upper limb rehabilitation training device, and the resistance provided is equal to the resistance to be provided.

[0028] In one embodiment, the current working mode includes a variable power-assisting mode, and when the current working mode is the variable power-assisting mode, the controller is specifically configured to:

[0029] When the gas pressure is within the first range, the working state is maintained;

[0030] When in working state, determining the magnitude of the assist to be provided corresponding to the gas pressure based on the current gas pressure;

[0031] Based on the motion information, the posture and moving path of the upper limb rehabilitation training device are determined and the speed of each fan is controlled so that the multi-directional air outlet device provides assistance to the upper limb rehabilitation training device on the moving path, and the amount of assistance provided is equal to the amount of assistance to be provided.

[0032] In one embodiment, the current working mode includes a variable resistance mode, and when the current working mode is the variable resistance mode, the controller is specifically configured to:

[0033] When the gas pressure is within the first range, the working state is maintained;

[0034] When in working state, determining the resistance to be provided corresponding to the gas pressure based on the current gas pressure;

[0035] Based on the motion information, the posture and moving path of the upper limb rehabilitation training device are determined and the speed of each fan is controlled so that the multi-directional air outlet device provides resistance on the moving path of the upper limb rehabilitation training device, and the resistance provided is equal to the resistance to be provided.

[0036] An upper limb rehabilitation training method is applied to the controller in the upper limb rehabilitation training device as described above, and the upper limb rehabilitation training method comprises:

[0037] When the gas pressure is within the first range, the working state is maintained;

[0038] When in working state, the posture and moving path of the upper limb rehabilitation training device are determined based on motion information, and the speed of each fan is controlled based on the current working mode, so that the multi-directional air outlet device can provide assistance or resistance on the moving path of the upper limb rehabilitation training device.

[0039] By applying the technical solution provided in the embodiment of the present invention, an upper limb rehabilitation training device with a multi-directional air outlet device and a handle can help patients achieve upper limb rehabilitation, effectively improving the convenience of rehabilitation. Specifically, the multi-directional air outlet device is a multi-directional air outlet device with multiple fans, and the handle is connected to the multi-directional air outlet device, which can be held by the patient and is deformable.

[0040] There is a closed cavity inside the handle, and the gas pressure sensor can detect the gas pressure of the closed cavity and send it to the controller. When the gas pressure is within the first range, the controller will maintain the working state and then control the speed of each fan, which can effectively ensure the safety of the upper limb rehabilitation training device of the present application. If the controller is in the working state, it means that the patient is holding the handle of the upper limb rehabilitation training device at this time and needs to perform upper limb rehabilitation. At this time, the controller will control the speed of each fan based on the current working mode, posture and moving path, so that the multi-directional air outlet device provides the upper limb rehabilitation training device with assistance or resistance on the moving path to meet the use needs of different patients. And it can be seen that in the process of using the upper limb rehabilitation training device of the present application, the patient only needs to hold the handle of the upper limb rehabilitation training device to move the upper limb rehabilitation training device, and the rehabilitation training of the upper limb can be realized. The rehabilitation training process is very flexible and convenient, and it is easy to be used by various types of patients in various scenarios.

[0041] In summary, the solution of the present application can effectively achieve upper limb rehabilitation and improve the safety, flexibility and convenience of rehabilitation. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0043] Figure 1 A schematic diagram of the external structure of an upper limb rehabilitation training device provided by a specific embodiment of the present invention;

[0044] Figure 2 A cross-sectional view of an upper limb rehabilitation training device provided by a specific embodiment of the present invention;

[0045] Figure 3 A schematic diagram of the connection structure of an upper limb rehabilitation training device provided in a specific embodiment of the present invention. DETAILED DESCRIPTION

[0046] The core of the present invention is to provide an upper limb rehabilitation training device, which can effectively achieve upper limb rehabilitation and improve the safety, flexibility and convenience of rehabilitation.

[0047] In order to enable those skilled in the art to better understand the scheme of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0048] Please refer to Figure 1 , Figure 2 as well as Figure 3 , Figure 1 This is a schematic diagram of the external structure of an upper limb rehabilitation training device provided by a specific embodiment of the present invention. Figure 2 A cross-sectional view of an upper limb rehabilitation training device provided by a specific embodiment of the present invention, Figure 3 A schematic diagram of the connection structure of an upper limb rehabilitation training device provided by a specific embodiment of the present invention. The upper limb rehabilitation training device of the present application may include:

[0049] A multi-directional air outlet device 10 having multiple fans;

[0050] A deformable handle 20 connected to the multi-directional air outlet device 10 for holding, and having a sealed cavity inside the handle 20;

[0051] A gas pressure sensor 30 for detecting the gas pressure in the closed cavity and sending the pressure to the controller 50;

[0052] A posture sensor 40 for detecting motion information of the upper limb rehabilitation training device and sending the motion information to the controller 50;

[0053] The gas pressure sensor 30, the posture sensor 40 and the controller 50 connected to each fan are used to maintain the upper limb rehabilitation training device in a working state when the gas pressure is within a first range. When in the working state, the posture and moving path of the upper limb rehabilitation training device are determined based on the motion information, and the speed of each fan is controlled based on the current working mode, so that the multi-directional air outlet device 10 provides assistance or resistance on the moving path of the upper limb rehabilitation training device.

[0054] The multi-directional air outlet device 10 of the present application is provided with multiple fans, and the wind force emitted by the fans can be used as an assist or resistance during the rehabilitation training process. Since the posture and moving path of the upper limb rehabilitation training device may be different during the patient's rehabilitation training, multiple fans need to be provided in the multi-directional air outlet device 10, so that under the control of the controller 50, by controlling the rotation speed of each fan, the direction of the wind force after vector synthesis is the same as or opposite to the moving path, thereby providing assist or resistance on the moving path for the upper limb rehabilitation training device.

[0055] The specific structure of the multi-directional air outlet device 10 can be set and adjusted according to actual needs, and multiple fans can be set to achieve multi-directional air outlet. In a specific embodiment of the present invention, the multi-directional air outlet device 10 is specifically a three-dimensional air outlet device, and at least one fan is arranged in the X-axis direction of the three-dimensional air outlet device, at least one fan is arranged in the Y-axis direction of the three-dimensional air outlet device, and at least one fan is arranged in the Z-axis direction of the three-dimensional air outlet device.

[0056] This embodiment takes into account that a plurality of fans are provided in the multi-directional air outlet device 10 of the present application in order to perform vector synthesis of force. Therefore, in order to facilitate the vector synthesis of force, in this embodiment, the multi-directional air outlet device 10 is specifically a three-dimensional air outlet device, and at least one fan is provided in the X-axis, Y-axis and Z-axis directions, thereby facilitating the vector synthesis of force.

[0057] Furthermore, in a specific embodiment of the present invention, the three-dimensional wind outlet device is specifically a three-dimensional wind ball, and two fans are symmetrically arranged in the X-axis direction of the three-dimensional wind ball, two fans are symmetrically arranged in the Y-axis direction of the three-dimensional wind ball, and two fans are symmetrically arranged in the Z-axis direction of the three-dimensional wind ball, and at any time, the rotation speed and rotation direction of the two fans in the same axis are kept consistent; and the blade angle of each fan blade gradually increases from the tip to the root.

[0058] Figure 1 This implementation method is adopted in , where two fans are symmetrically arranged in the X-axis, Y-axis and Z-axis directions, that is, the six fans are symmetrically distributed in the six planes of the sphere. Taking the X-axis as an example, two fans are symmetrically arranged in the X-axis direction. Compared with only a single fan, the wind force can be doubled, which is also conducive to ensuring the smooth entry and exit of the wind path in the three-dimensional wind ball. And it can be understood that since two fans are symmetrically arranged in the X-axis, Y-axis and Z-axis directions, at any time, the rotation direction of the two fans in the same axis needs to be consistent to ensure a smooth wind path. And in order to simplify the control, the rotation speed of the two fans in the same axis can be set to be consistent. In Figure 3 In the example, six fans are provided in the multi-directional air outlet device 10, which are respectively denoted as X-axis fan 1, X-axis fan 2, Y-axis fan 1, Y-axis fan 2 and Z-axis fan 1, Z-axis fan 2.

[0059] In addition, in this embodiment, the blade angle of each fan blade gradually increases from the tip to the root, so that the fan blade is a propeller structure, and the blade angle of the fan blade gradually increases from the tip to the root according to a certain rule, so that the fan blade can operate at a larger angle of attack at different radii, thereby obtaining a larger pull or thrust.

[0060] The handle 20 needs to be connected to the multi-directional air outlet device 10, for example Figure 1 In a specific implementation manner, an arc-shaped circular tube is provided below the three-dimensional wind ball, through which the three-dimensional wind ball and the handle 20 are fixed, and connecting wires on the circuit can be arranged in the arc-shaped circular tube to realize the driving control of each fan by the controller 50.

[0061] The handle 20 of the present application is a deformable handle 20 for holding, and the handle 20 has a sealed cavity inside. The specific structure can be set and adjusted according to actual needs. For example, it can usually be Figure 1 The cylindrical handle 20 shown is convenient for the patient to hold.

[0062] Further, in a specific embodiment of the present invention, please refer to Figure 2 , the handle 20 may include:

[0063] Deformable soft handle shell;

[0064] A hard support part is fixed inside the soft handle shell, there is a gap between the hard support part and the soft handle shell, and a through hole is arranged in the hard support part so that the through hole is connected with the gap, and one end of the through hole is used to set the gas pressure sensor 30.

[0065] In this embodiment, the soft handle shell is used to be held by the patient and can be deformed, thereby changing the air pressure in the closed cavity inside the handle 20. For example, the soft handle shell can usually be made of soft rubber. In this embodiment, in order to prevent the soft handle shell from being damaged due to excessive deformation, a hard support portion is fixed in the closed cavity inside the soft handle shell, such as Figure 2 In the example, there is a cylindrical hard support part, which limits the deformation of the soft handle shell. It can be seen that Figure 2 In the embodiment, a U-shaped gap is formed between the hard support portion and the soft handle shell, and the gap is a part of the closed cavity inside the handle 20.

[0066] In order to facilitate the arrangement of the gas pressure sensor 30, in this embodiment, a through hole penetrating the hard support portion is provided in the hard support portion. Figure 2 The through hole is marked as 203, and the through hole needs to be connected to the aforementioned U-shaped gap, and a gas pressure sensor 30 can be set at one end of the through hole, so that the gas pressure sensor 30 can monitor the air pressure of the closed cavity inside the handle 20.

[0067] Of course, in other specific embodiments, the gas pressure sensor 30 may have other installation positions, as long as it can effectively detect the gas pressure in the closed cavity inside the handle 20, but it is usually set at a position close to the controller 50 for easy wiring. Figure 1 and Figure 2 The controller 50 is not shown in the figure. The controller 50 and the posture sensor 40 are usually arranged in a circuit board, for example Figure 2 In the embodiment of the present invention, the circuit board is marked as 204, and the circuit board is fixed to the upper part of the handle 20. Figure 1 and Figure 2 Also shown is a charging interface 205, through which the battery in the circuit board 204 can be charged, and the battery can power various components on the circuit board 204 that require power and various fans. In addition, during the charging and discharging process of the battery, the battery management system can be used for control to avoid battery damage caused by overcharging or over-discharging, for example, the charging speed, discharge depth, etc. can be controlled.

[0068] The posture sensor 40 can detect its own motion information. Since the posture sensor 40 is arranged in the upper limb rehabilitation training device, and each component in the upper limb rehabilitation training device is fixedly installed, the motion information of the posture sensor 40 itself detected is the motion information of the multi-directional air outlet device 10 and the handle 20, that is, the motion information of the upper limb rehabilitation training device.

[0069] For example, in one scenario, a nine-axis posture sensor 40 chip MPU9250 can be set on the circuit board 204. The chip integrates a 3-axis acceleration sensor, a 3-axis gyroscope sensor and a 3-axis magnetometer. The controller 50 can realize posture solution by reading the data of the posture sensor 40 to obtain the posture and movement path of the upper limb rehabilitation training device.

[0070] The motion information output by the attitude sensor 40 is also the sensor data of the attitude sensor 40. For example, in one scenario, the motion information output by the attitude sensor 40 specifically includes the sensor data of the gyroscope, accelerometer and magnetometer in the attitude sensor 40. The gyroscope can measure angular velocity, the accelerometer can measure acceleration magnitude, and the magnetometer can measure magnetic field magnitude.

[0071] When the controller 50 performs posture calculation to obtain the posture and moving path of the upper limb rehabilitation training device, in terms of mathematical model establishment, the state quantity equations of quaternions and gyroscope drift, as well as the observation quantity equations of the three-axis accelerometer and magnetic declination can be derived according to the formula, and the errors in the model can be Kalman filtered to obtain a more accurate posture solution, and the Kalman filter formula can also be used to perform state updates and error covariance matrix updates. Finally, in terms of the output of the posture solution results, the obtained quaternions can be converted into Euler angles or rotation matrices for output. For example, in one occasion, the obtained posture can be reflected by the roll angle (roll), pitch angle (pitch) and yaw angle (yaw), and the moving path can be reflected by the change of coordinates.

[0072] The controller 50 is in the working state only when the gas pressure is within the first range, and when the gas pressure is not within the first range, the controller 50 will not maintain the working state, and at this time, each fan will not be driven by the controller 50. Figure 1 In the example shown in FIG. 2 , an indicator light 207 is shown. For example, when the indicator light 207 is green, it indicates that the controller is currently in a working state, and when the indicator light 207 is red, it indicates that the controller is currently not in a working state.

[0073] Specifically, when the patient needs to perform rehabilitation training for the upper limbs, the patient's palm will grip the handle 20. At this time, the gas pressure in the closed cavity inside the handle 20 will increase. When the gas pressure is greater than the starting threshold, it means that the patient holds the handle 20 with a certain force, and the controller 50 can enter the working state. On the contrary, if the gas pressure is not greater than the starting threshold, in order to avoid false triggering, the controller 50 will not enter the working state.

[0074] During the training process, since the multi-directional air outlet device 10 of the present application can provide great force, the patient's fingers may reflexively grip the handle 20 tightly. Therefore, in order to avoid excessive force provided by the multi-directional air outlet device 10 and cause muscle damage to the patient's upper limbs, during the rehabilitation training process, when the detected gas pressure is higher than the stop threshold, it means that the patient holds the handle 20 too hard, and the controller 50 will also exit the working state to ensure safety. The start threshold and stop threshold described above are the lower limit and upper limit of the preset first range, and the specific values ​​can be set and adjusted according to actual needs.

[0075] When the controller 50 is in working state, as described above, the posture and moving path of the upper limb rehabilitation training device can be determined based on the motion information sent by the posture sensor 40. After the posture and moving path are determined, it is necessary to control the speed of each fan in combination with the current working mode so that the multi-directional air outlet device 10 provides assistance or resistance on the moving path for the upper limb rehabilitation training device.

[0076] The specific rules of different working modes can be set and adjusted according to actual needs, but it is understandable that usually at least two different working modes are required, one can provide assistance on the moving path of the upper limb rehabilitation training device, and the other can provide resistance on the moving path of the upper limb rehabilitation training device. For example, in one occasion, the working mode includes at least a fixed assistance mode and a fixed resistance mode.

[0077] Specifically, in one embodiment, the current working mode includes a fixed power-assisting mode, and when the current working mode is the fixed power-assisting mode, the controller 50 is specifically configured to:

[0078] When the gas pressure is within the first range, the working state is maintained;

[0079] When in working state, based on the current power assist gear of the fixed power assist mode, the magnitude of the power assist to be provided corresponding to the power assist gear is determined;

[0080] The posture and moving path of the upper limb rehabilitation training device are determined based on the motion information and the speed of each fan is controlled, so that the multi-directional air outlet device 10 provides assistance on the moving path of the upper limb rehabilitation training device, and the amount of assistance provided is equal to the amount of assistance to be provided.

[0081] In this implementation, the current working mode is a fixed power-assist mode. At this time, a fixed amount of power assistance needs to be provided to the patient. Therefore, the power-assist gear of the current fixed power-assist mode needs to be determined, for example Figure 1In the example, a button area is provided on the outer shell of the handle 20, marked as 206. In this button area, the patient can select the fixed power-assist mode and can select a specific gear. It can be understood that different gears are selected, and the power assistance to be provided for urination and defecation will be different.

[0082] After the controller 50 determines the posture and moving path of the upper limb rehabilitation training device based on the motion information, it will control the speed of each fan, and the multi-directional air outlet device 10 provides the upper limb rehabilitation training device with an assist equal to the assist to be provided on the moving path.

[0083] The magnitude of the force provided by the fan involves multiple factors. Generally speaking, it can be simply calculated by F=0.5×ρ×A×v2, where F is the wind force, ρ is the air density, which is 1.23 kg / cubic meter under standard atmospheric pressure, A is the blade area, which can usually be obtained by dividing the square of the fan blade diameter by 4, and v is the wind speed, which can be measured at the fan outlet by a wind speed detection instrument. In addition, the wind speed generated by the fan is positively correlated with the rotation speed. Therefore, it can be understood that after all components are determined, the corresponding relationship between the fan speed and the wind force provided by the fan can be determined through experiments in advance.

[0084] It is understandable that if the multi-directional air outlet device 10 is specifically a three-dimensional air outlet device, and the patient holds the handle 20 and moves toward the X-axis, Y-axis or Z-axis direction of the three-dimensional air outlet device, then only a single axial fan is needed to provide assistance on the moving path for the upper limb rehabilitation training device. In actual applications, when using the upper limb rehabilitation training device of the present application, the patient's upper limb rehabilitation movement trajectory is mostly an arc route. At this time, it is usually necessary to generate forces in two axial directions so that after the vector synthesis of the force, the magnitude of the assistance provided on the moving path of the upper limb rehabilitation training device is equal to the determined magnitude of the assistance to be provided. That is to say, for example, when the above-mentioned three-dimensional wind ball implementation method is adopted, in most cases, 4 of the 6 fans need to be used to generate wind force in two axial directions so that the resultant force is located on the moving path and the magnitude and direction meet the current needs.

[0085] In a specific embodiment of the present invention, the current working mode includes a fixed resistance mode, and when the current working mode is the fixed resistance mode, the controller 50 is specifically used to:

[0086] When the gas pressure is within the first range, the working state is maintained;

[0087] When in working state, based on the resistance level of the current fixed resistance mode, the resistance level to be provided corresponding to the resistance level is determined;

[0088] Based on the motion information, the posture and moving path of the upper limb rehabilitation training device are determined and the speed of each fan is controlled so that the multi-directional air outlet device 10 provides resistance on the moving path for the upper limb rehabilitation training device, and the resistance provided is equal to the resistance to be provided.

[0089] In the fixed resistance mode, the amount of resistance to be provided is determined by the resistance gear. For example, in the button area in the above embodiment, the patient can select the fixed resistance mode and can select a specific gear. Different gears will result in different amounts of resistance to be provided.

[0090] Similar to the fixed power-assist mode mentioned above, after the control determines the posture and moving path of the upper limb rehabilitation training device, the speed of each fan will be controlled so that the multi-directional air outlet device 10 provides resistance on the moving path of the upper limb rehabilitation training device, and the resistance provided is equal to the resistance to be provided.

[0091] It can be seen that in the fixed power-assistance mode and the fixed resistance mode described above, the multi-directional air outlet device 10 provides a fixed force for the upper limb rehabilitation training device, which is suitable for patients who do not want the wind force to change frequently, but can provide a pre-set power or resistance on the moving path. In addition, it can be understood that in practical applications, when the fan speed is linearly adjustable, it can usually effectively make the vector sum of the forces provided by each fan 0° or 180° with the moving path, thereby providing a required power or resistance on the moving path. However, in some occasions, in order to simplify the design, the fan speed may be designed to have multiple optional speed gears. At this time, when the vector synthesis of the forces provided by each fan is performed, the resistance or power provided on the moving path of the upper limb rehabilitation training device may have a certain degree of error from the ideal situation. This does not affect the implementation of the present invention. By setting the appropriate number of speed gears of the fan, the error between the power or resistance provided and the ideal situation after the vector synthesis of the force is within an acceptable range.

[0092] In a specific implementation of the present invention, the current working mode includes a variable power-assisting mode, and when the current working mode is the variable power-assisting mode, the controller 50 is specifically configured to:

[0093] When the gas pressure is within the first range, the working state is maintained;

[0094] When in working state, the magnitude of the assist to be provided corresponding to the gas pressure is determined based on the current gas pressure;

[0095] The posture and moving path of the upper limb rehabilitation training device are determined based on the motion information and the speed of each fan is controlled, so that the multi-directional air outlet device 10 provides assistance on the moving path of the upper limb rehabilitation training device, and the amount of assistance provided is equal to the amount of assistance to be provided.

[0096] In this embodiment, a variable assistance mode is further set. Similar to the principle of the fixed assistance mode mentioned above, in the variable assistance mode, assistance is also provided to the upper limb rehabilitation training device on the moving path. The difference is that in this embodiment, during the training process, the patient can adjust the size of the assistance in real time and flexibly according to his own needs.

[0097] Specifically, in this embodiment, the controller 50 determines the amount of assistance to be provided corresponding to the gas pressure based on the current gas pressure. For example, in one scenario, the first range is divided into several intervals, and then the corresponding amount of assistance to be provided is obtained according to which interval the current gas pressure is in. For example, it can usually be set that the gas pressure is positively correlated with the amount of assistance to be provided, that is, the harder the patient holds the handle 20, the greater the assistance the patient needs to provide.

[0098] During use, the patient does not need to adjust the gear. By adjusting the strength of holding the handle 20, the amount of assistance to be provided can be adaptively changed. It is very flexible and is particularly suitable for patients who have a certain control ability for the upper limbs to be rehabilitated. By effectively coordinating the patient's usage needs and flexibly adjusting the amount of assistance to be provided, it helps to accelerate the rehabilitation efficiency of the patient's upper limbs.

[0099] In a specific embodiment of the present invention, the current working mode includes a variable resistance mode, and when the current working mode is the variable resistance mode, the controller 50 is specifically used to:

[0100] When the gas pressure is within the first range, the working state is maintained;

[0101] When in working state, the resistance to be provided corresponding to the gas pressure is determined based on the current gas pressure;

[0102] Based on the motion information, the posture and moving path of the upper limb rehabilitation training device are determined and the speed of each fan is controlled so that the multi-directional air outlet device 10 provides resistance on the moving path for the upper limb rehabilitation training device, and the resistance provided is equal to the resistance to be provided.

[0103] In this embodiment, a variable resistance mode is further provided, which is similar to the principle of the variable assistance mode described above, except that in this embodiment, during the training process, the patient can flexibly adjust the amount of resistance to be provided according to his or her own needs.

[0104] In a specific embodiment of the present invention, the controller 50 may also be used to:

[0105] The moving path of the upper limb rehabilitation training device is sent to the host computer through the wireless communication device 60, so that the host computer compares the moving path with the standard moving path in the first display screen and obtains the comparison result.

[0106] In this embodiment, considering that the upper limb rehabilitation training device of the present application can also be used in conjunction with a host computer, the host computer can, for example, be a device with a first display screen. At this time, a wireless communication device 60 needs to be arranged on the circuit board of the handle 20, so that the controller 50 can send the moving path of the upper limb rehabilitation training device to the host computer through the wireless communication device 60, and then the host computer compares the actual moving path with the standard moving path in the first display screen and obtains a comparison result.

[0107] For example, in one case, the patient can use the game to implement upper limb rehabilitation training to enhance the fun. The host computer can display the standard moving path on the first display screen so that the patient can control the movement of the handle 20 according to the standard moving path. It can be understood that for different patients, the doctor can also pre-customize the various standard moving paths suitable for the patient to enhance the rationality of the training. When the patient controls the handle 20 to move, the host computer can compare the actual moving path of the upper limb rehabilitation training device with the standard moving path in the first display screen. There are many specific comparison methods between the two curves, such as comparing the overlap, comparing the error degree of some key positions, etc. The obtained comparison results can not only be shown to the patient, but also sent to the doctor, so that the doctor can identify the patient's defect points, and according to the muscle groups corresponding to the identified defect points, identify the training points that the patient needs to strengthen training, and then adjust the rehabilitation training trajectory, that is, adjust the various standard moving paths in the game, and further enhance the rationality and pertinence of the training.

[0108] In addition, since the upper limb rehabilitation training device of the present application can blow air, the patient can also directly use the wind power provided by the fan to relax muscles, relieve pain and promote blood circulation. The fan can also be used to adjust the temperature and comfort of the rehabilitation environment. In rehabilitation training, appropriate temperature and ventilation are also crucial to the patient's comfort and rehabilitation effect. Using a fan can help control the indoor temperature and provide the required wind power to create a comfortable rehabilitation environment.

[0109] By applying the technical solution provided in the embodiment of the present invention, the upper limb rehabilitation training device with a multi-directional air outlet device 10 and a handle 20 can help patients achieve upper limb rehabilitation, effectively improving the convenience of rehabilitation. Specifically, the multi-directional air outlet device 10 is a multi-directional air outlet device 10 with multiple fans, and the handle 20 is connected to the multi-directional air outlet device 10, which can be held by the patient and can be deformed.

[0110] The handle 20 has a closed cavity inside, and the gas pressure sensor 30 can detect the gas pressure of the closed cavity and send it to the controller 50. When the gas pressure is within the first range, the controller 50 will maintain the working state and then control the speed of each fan, which can effectively ensure the safety of the upper limb rehabilitation training device of the present application. If the controller 50 is in the working state, it means that the patient is holding the handle 20 of the upper limb rehabilitation training device at this time and needs to perform upper limb rehabilitation. At this time, the controller 50 will control the speed of each fan based on the current working mode, posture and moving path, so that the multi-directional air outlet device 10 provides the upper limb rehabilitation training device with assistance or resistance on the moving path to meet the use needs of different patients. And it can be seen that in the process of using the upper limb rehabilitation training device of the present application, the patient only needs to hold the handle 20 of the upper limb rehabilitation training device so that the upper limb rehabilitation training device moves, and the rehabilitation training of the upper limb can be realized. The rehabilitation training process is very flexible and convenient, and is easy to be used by various types of patients in various scenarios.

[0111] In summary, the solution of the present application can effectively achieve upper limb rehabilitation and improve the safety, flexibility and convenience of rehabilitation.

[0112] Corresponding to the above embodiment of the upper limb rehabilitation training device, the embodiment of the present invention further provides an upper limb rehabilitation training method, which can be referred to in correspondence with the above.

[0113] The upper limb rehabilitation training method can be applied to a controller in any of the upper limb rehabilitation training devices described above, and may include the following steps:

[0114] When the gas pressure is within the first range, the working state is maintained;

[0115] When in working state, the posture and moving path of the upper limb rehabilitation training device are determined based on motion information, and the speed of each fan is controlled based on the current working mode, so that the multi-directional air outlet device can provide assistance or resistance on the moving path of the upper limb rehabilitation training device.

[0116] It should also be noted that, in this application, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0117] Those skilled in the art may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in this application can be implemented with electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0118] The present application uses specific examples to illustrate the principles and implementation methods of the present invention, and the description of the above embodiments is only used to help understand the technical solution and core ideas of the present invention. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, the present invention can also be improved and modified, and these improvements and modifications also fall within the scope of protection of the present invention.

Claims

1. An upper limb rehabilitation training device, characterized in that: include: A multi-directional air outlet device with multiple fans; A deformable handle connected to the multi-directional air outlet device for holding, wherein the handle has a sealed cavity inside; A gas pressure sensor for detecting the gas pressure in the closed cavity and sending the pressure to a controller; A posture sensor for detecting motion information of the upper limb rehabilitation training device and sending the motion information to the controller; A controller connected to the gas pressure sensor, the posture sensor and each of the fans, respectively, is used to maintain the upper limb rehabilitation training device in a working state when the gas pressure is within a first range. When in the working state, the posture and moving path of the upper limb rehabilitation training device are determined based on the motion information, and the speed of each fan is controlled based on the current working mode, so that the multi-directional air outlet device provides assistance or resistance on the moving path of the upper limb rehabilitation training device.

2. The upper limb rehabilitation training device according to claim 1, characterized in that: The multi-directional air outlet device is specifically a three-dimensional air outlet device, in which at least one fan is arranged in the X-axis direction of the three-dimensional air outlet device, at least one fan is arranged in the Y-axis direction of the three-dimensional air outlet device, and at least one fan is arranged in the Z-axis direction of the three-dimensional air outlet device.

3. The upper limb rehabilitation training device according to claim 2, characterized in that: The three-dimensional wind outlet device is specifically a three-dimensional wind ball, in which two fans are symmetrically arranged in the X-axis direction of the three-dimensional wind ball, two fans are symmetrically arranged in the Y-axis direction of the three-dimensional wind ball, and two fans are symmetrically arranged in the Z-axis direction of the three-dimensional wind ball. At any time, the rotation speed and rotation direction of the two fans in the same axis are consistent; and the blade angle of each fan blade gradually increases from the tip to the root.

4. The upper limb rehabilitation training device according to claim 1, characterized in that: The handle comprises: Deformable soft handle shell; A hard support portion is fixed inside the soft handle shell, a gap exists between the hard support portion and the soft handle shell, and a through hole penetrating the hard support portion is provided in the hard support portion so that the through hole is connected with the gap, and one end of the through hole is used to set the gas pressure sensor.

5. The upper limb rehabilitation training device according to claim 1, characterized in that: The controller is also used for: The moving path of the upper limb rehabilitation training device is sent to a host computer through a wireless communication device, so that the host computer compares the moving path with a standard moving path in a first display screen and obtains a comparison result.

6. The upper limb rehabilitation training device according to any one of claims 1 to 5, characterized in that: The current working mode includes a fixed power-assisting mode, and when the current working mode is the fixed power-assisting mode, the controller is specifically used to: When the gas pressure is within the first range, the working state is maintained; When in working state, based on the power assist gear of the current fixed power assist mode, determining the power assist amount to be provided corresponding to the power assist gear; Based on the motion information, the posture and moving path of the upper limb rehabilitation training device are determined and the speed of each fan is controlled so that the multi-directional air outlet device provides assistance to the upper limb rehabilitation training device on the moving path, and the amount of assistance provided is equal to the amount of assistance to be provided.

7. The upper limb rehabilitation training device according to claim 6, characterized in that: The current working mode includes a fixed resistance mode, and when the current working mode is the fixed resistance mode, the controller is specifically used to: When the gas pressure is within the first range, the working state is maintained; When in working state, based on the resistance level of the current fixed resistance mode, the resistance level to be provided corresponding to the resistance level is determined; Based on the motion information, the posture and moving path of the upper limb rehabilitation training device are determined and the speed of each fan is controlled so that the multi-directional air outlet device provides resistance on the moving path of the upper limb rehabilitation training device, and the resistance provided is equal to the resistance to be provided.

8. The upper limb rehabilitation training device according to claim 6, characterized in that: The current working mode includes a variable power-assisting mode, and when the current working mode is the variable power-assisting mode, the controller is specifically used to: When the gas pressure is within the first range, the working state is maintained; When in working state, determining the magnitude of the assist to be provided corresponding to the gas pressure based on the current gas pressure; Based on the motion information, the posture and moving path of the upper limb rehabilitation training device are determined and the speed of each fan is controlled so that the multi-directional air outlet device provides assistance to the upper limb rehabilitation training device on the moving path, and the amount of assistance provided is equal to the amount of assistance to be provided.

9. The upper limb rehabilitation training device according to claim 6, characterized in that: The current working mode includes a variable resistance mode, and when the current working mode is the variable resistance mode, the controller is specifically used to: When the gas pressure is within the first range, the working state is maintained; When in working state, determining the resistance to be provided corresponding to the gas pressure based on the current gas pressure; Based on the motion information, the posture and moving path of the upper limb rehabilitation training device are determined and the speed of each fan is controlled so that the multi-directional air outlet device provides resistance on the moving path of the upper limb rehabilitation training device, and the resistance provided is equal to the resistance to be provided.

10. An upper limb rehabilitation training method, characterized in that: In the controller used in the upper limb rehabilitation training device according to any one of claims 1 to 9, the upper limb rehabilitation training method comprises: When the gas pressure is within the first range, the working state is maintained; When in working state, the posture and moving path of the upper limb rehabilitation training device are determined based on motion information, and the speed of each fan is controlled based on the current working mode, so that the multi-directional air outlet device can provide assistance or resistance on the moving path of the upper limb rehabilitation training device.

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