Passive wearable exoskeleton device and method for upper limb rehabilitation training

Abstract

The invention belongs to the technical field of rehabilitation equipment, and particularly relates to a passive wearable exoskeleton device and method for upper limb rehabilitation training. The passive wearable exoskeleton device for upper limb rehabilitation training is simple in structure and low in cost, adopts passive design, does not need a complex electric or pneumatic system, and reduces the cost and maintenance difficulty. The passive wearable exoskeleton device for upper limb rehabilitation training is comfortable to wear and conforms to the ergonomic design, and the wearing comfort is ensured through the back supporting frame, the shoulder supporting pipes and the waist fixing device. The passive wearable exoskeleton device for upper limb rehabilitation training is remarkable in rehabilitation effect, the elastic traction device is matched with the training load to provide gradually-changed training force, and the upper limb muscle strength and flexibility can be enhanced. The device is high in adaptability, the load connecting device can set different types of training loads according to the body type and rehabilitation requirements of the user, and the adaptability is high.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation equipment, and is a passive wearable exoskeleton device and method for upper limb rehabilitation training. Background Art

[0002] With the aggravation of population aging and the increase of sports injuries, the number of patients with upper limb dysfunction continues to increase. Existing rehabilitation training equipment is mainly divided into two categories: active and passive. Active equipment is generally powered by electric or pneumatic means, with complex structure and high cost. For example, the control method and rehabilitation robot of a three-dimensional limb mirror rehabilitation robot disclosed in Chinese patent document CN116421443A (202310429136.3) and the Chinese patent document CN102525712A (CN201210052562.1) discloses a rope-traction upper limb rehabilitation robot and its control method. The rehabilitation training equipment cannot be carried around for training and is not suitable for widespread promotion and use.

[0003] Passive devices are relatively simple in structure, but need to be more sophisticated in design to ensure their effectiveness and comfort. Currently, there is a lack of passive upper limb rehabilitation training exoskeleton devices on the market that are both efficient and comfortable to wear. Summary of the invention

[0004] The purpose of the present invention is to provide a passive wearable exoskeleton device and method for upper limb rehabilitation training, so as to solve the deficiencies in the prior art and help patients with upper limb dysfunction to perform rehabilitation training.

[0005] The technical problem to be solved by the present invention is achieved by adopting the following technical solution: A passive wearable exoskeleton device for upper limb rehabilitation training comprises a wearable skeleton, an elastic traction device arranged on the wearable skeleton, a forearm fixing device and a load connecting device;

[0006] The wearable frame comprises a back support frame, a shoulder support tube and a waist fixing device, wherein the two shoulder support tubes are arranged at intervals on the upper end of the back support frame, and the waist fixing device is arranged at the lower end of the back support frame;

[0007] One end of the elastic traction device passes through the shoulder support tube and is connected to the back support frame, and the other end of the elastic traction device is connected to the forearm fixing device;

[0008] The load connection device is arranged on the forearm fixing device and is used to configure the training load;

[0009] The training load cooperates with the elastic traction device to provide a gradual training force.

[0010] Preferably, the bottom of the shoulder support tube is rotatably arranged on the back support frame. The bottom of the shoulder support tube is rotatably arranged on the back support frame to be suitable for exercising the upper limbs in different directions, exercising the flexibility of the upper limb joints and muscle groups in different positions.

[0011] Preferably, the elastic traction device of the present invention comprises a traction rope and an elastic element;

[0012] The elastic element can be vertically stretched and arranged on the back support frame, the upper end of the elastic element is connected to the traction rope, and the traction rope is connected to the load connection device. The elastic element can be vertically stretched and arranged on the back support frame, so that the force is effectively transmitted to the back and waist, and other parts of the body are used to provide effective support to ensure safety during strength training.

[0013] The present invention preferably further comprises a back cushion, which is detachably wrapped around the outside of the back support frame. By wrapping the back cushion around the outside of the back support frame, the back is protected and more comfortable during use is ensured.

[0014] The present invention preferably further comprises a shoulder strap arranged on the back cushion. The shoulder strap is arranged on the back cushion to fit the back cushion more firmly to the back, thereby ensuring the stability of the training device during strength training.

[0015] Preferably, the forearm fixing device of the present invention comprises a support plate and a restraint belt, and the two ends of the restraint belt are fixedly arranged on the support plate. Since the patient's hands do not have the strength to grasp the training load in the early stage, the restraint belt is used to fix the upper arm forelimb on the support plate, and the support plate plays a certain supporting role on the upper arm forelimb, thereby effectively transmitting the force to the upper limb muscles, playing a training role.

[0016] Preferably, the support plate is arc-shaped, so that the support plate can better fit the shape of the arm and be more comfortable.

[0017] Preferably, the load connection device is two hand hooks arranged at intervals from each other. The hooks are used to hang training loads of different gravity, which is convenient for operation. The two hand hooks are arranged at intervals, which is convenient for the user to place the hand between the two hand hooks, so as to exercise the grasping strength of the hand and ensure safety during the grasping process.

[0018] The present invention also discloses a method for upper limb rehabilitation training, which utilizes the above-mentioned passive wearable exoskeleton device for upper limb rehabilitation training, and comprises the following steps:

[0019] Based on the muscle strength of different patients, different weights of training loads are set on the load connection device when the upper limit of the elastic force of the elastic traction device is the same;

[0020] The forearm fixation device is used to fix the patient's upper forearm. When the patient bends and lifts the upper forearm, the force on the upper limb muscles gradually increases, thereby exercising the upper limb muscles and joints. The upper forearm is the lower arm of the upper limb.

[0021] Preferably, the weight of the training load is gradually increased as the patient's upper limb strength recovers to improve the training intensity;

[0022] After removing the training load, upper limb strength training is performed using a stretching elastic traction device, which is suitable for the late recovery period.

[0023] Working principle: This device provides stable wearable support through the combination of a back support frame, a shoulder support tube, and a waist fixing device, and uses an elastic traction device as a gradual mechanism to provide gradual elasticity, which cooperates with the training load to provide a gradual recovery force, assisting the user in various rehabilitation training movements of the upper limbs, thereby achieving the effect of exercise. During use, the user's muscle strength is combined with the training load and the auxiliary force provided by the elastic traction device to complete the upper limb load pull-down, lifting, bending and other movements, thereby achieving the purpose of rehabilitation. The adjustment device allows personalized adjustment according to the specific needs of the user to ensure the best rehabilitation effect and wearing comfort.

[0024] Compared with the prior art, the beneficial effects of the present invention are: the passive wearable exoskeleton device for upper limb rehabilitation training of the present invention has a simple structure and low cost: the passive design does not require a complex electrical or pneumatic system, which reduces the cost and maintenance difficulty.

[0025] The passive wearable exoskeleton device for upper limb rehabilitation training of the present invention is comfortable to wear and conforms to ergonomic design. The back support frame, shoulder support tube and waist fixing device ensure the wearing comfort. The back support frame will make the whole device fit the back, and the waist fixing device will fix the whole device to the human body. The shoulder support tube protects the human shoulder and transmits the force to the human back, so that the human body can bear the gravity of the whole device and the training load.

[0026] The passive wearable exoskeleton device for upper limb rehabilitation training of the present invention has significant rehabilitation effect. The elastic traction device provides a gradual auxiliary force by cooperating with the training load. With the assistance of the elastic force of the elastic traction device, it helps to enhance the upper limb muscle strength and flexibility by overcoming the gravity of the training load.

[0027] The device of the present invention has strong adaptability, and the load connection device can set different types of training loads according to the user's body shape and rehabilitation needs, and has strong adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1It is a schematic structural diagram of the passive wearable exoskeleton device for upper limb rehabilitation training according to the present invention;

[0029] Figure 2 is a schematic structural diagram of the cushion of the present invention;

[0030] Figure 3 This is a schematic diagram of the assembly of components of the passive wearable exoskeleton device for upper limb rehabilitation training according to the present invention;

[0031] Figure 4 It is a structural schematic diagram of the back support frame of the present invention;

[0032] Figure 5 This is a schematic diagram of the back support frame of the present invention in use;

[0033] In the figure, 1 is a wearable skeleton, 2 is an elastic traction device, 3 is a forearm fixing device, and 4 is a load connection device;

[0034] 11 back support frame, 12 shoulder support tube, 13 waist fixing device;

[0035] 21 traction rope, 22 elastic element;

[0036] 5 cushion, 51 first combination cushion, 52 second combination cushion, 53 buckle, 6 shoulder strap;

[0037] 31 support plate, 32 restraining belt. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0039] like Figure 1-Figure 3 As shown, this embodiment is a passive wearable exoskeleton device for upper limb rehabilitation training, including a wearable frame 1, an elastic traction device 2 arranged on the wearable frame 1, a forearm fixing device 3 and a load connecting device 4.

[0040] The wearable skeleton 1 includes a back support frame 11, a shoulder support tube 12 and a waist fixing device 13. The two shoulder support tubes 12 are arranged at intervals on the upper end of the back support frame 11, and the waist fixing device 13 is arranged at the lower end of the back support frame 11. The shoulder support tube 12 is an arc-shaped curved tube. The waist fixing device 13 is worn on the waist of the rehabilitation trainee. In the specific implementation, it is necessary to select a material with certain elasticity and high strength to ensure the feasibility of waist wearing and the safety of the structure.

[0041] One end of the elastic traction device 2 passes through the shoulder support tube 12 and is connected to the back support frame 11, and the other end of the elastic traction device 2 is connected to the forearm fixing device 3. The shoulder support tube 12 fits the human shoulder to support and protect the shoulder.

[0042] The load connection device 4 is arranged on the forearm fixing device 3 and is used to configure training loads of different weights.

[0043] The training load cooperates with the elastic traction device 2 to provide a gradual training force.

[0044] The bottom of the shoulder support tube 12 is rotatably arranged on the back support frame 11 .

[0045] like Figure 3 As shown, the elastic traction device 2 includes a traction rope 21 and an elastic element 22. The elastic element 22 is a tension spring. The tension spring is quickly connected through hooks at both ends.

[0046] The elastic element 22 is vertically stretched and arranged on the back support frame 11, and the upper end of the elastic element 22 is connected to the traction rope 21, and the traction rope 21 is connected to the load connection device 4. The elastic element 22 is used to provide a restoring force to assist the user to complete the lifting and lowering of the upper limbs. In specific implementation, different elastic elements, such as springs, rubber bands, etc., can be selected according to the rehabilitation needs of different users.

[0047] like Figure 4 As shown, the back support frame 11 includes an upper connecting cross bar 111, a back vertical bar 112 and a lower connecting cross bar 113, the upper connecting cross bar 111 and the lower connecting cross bar 113 are respectively fixedly arranged at the upper and lower ends of the back vertical bar 112, the upper connecting cross bar 111 and the lower connecting cross bar 113 are arranged parallel to each other and are perpendicular to the back vertical bar 112, the lower end of the elastic element 22 is detachably arranged on the lower connecting cross bar 113, the upper connecting cross bar 111 is provided with a through hole, the shoulder support tube 12 is arranged at the upper end of the upper connecting cross bar 111 and connected to the through hole. The upper end of the traction rope 21 passes through the through hole on the upper connecting cross bar 111 and the shoulder support tube 12 in sequence and is connected to the forearm fixing device 3.

[0048] The passive wearable exoskeleton device for upper limb rehabilitation training further includes a back cushion 5, which is detachably wrapped around the outside of the back support frame 11. The back cushion 5 includes a first combination cushion 51, a second combination cushion 52 and a buckle 53, and the first combination cushion 51 and the second combination cushion 52 are connected together by the buckle 53. The back cushion 5 can be installed on the back support frame 11 through its own buckle structure, which can achieve a good buffering effect and ensure that the device is stable and ergonomic.

[0049] The back cushion 5 plays a role in improving the wearing comfort and ensuring the stability and comfort of the device. In specific implementation, the back cushion 5 material needs to be selected from a material with good stability, chemical resistance, good resilience, good mechanical properties, heat insulation, sound insulation, and shock resistance.

[0050] The passive wearable exoskeleton device for upper limb rehabilitation training further comprises a strap 6 arranged on the back cushion 5. The waist fixing device 13 cooperates with the strap 6 to be better worn and fixed on the wearer, thus playing a role of fixing the wearer.

[0051] The forearm fixing device 3 comprises a support plate 31 and a binding belt 32, and both ends of the binding belt 32 are fixedly arranged on the support plate 31. The binding belt 32 is an elastic belt.

[0052] The support plate 31 is arc-shaped.

[0053] The load connection device 4 is two hand hooks arranged at intervals from each other. The hand hooks can directly hang heavy objects of different models and sizes.

[0054] A method for upper limb rehabilitation training, using the above-mentioned passive wearable exoskeleton device for upper limb rehabilitation training, comprises the following steps:

[0055] like Figure 5 As shown, based on the muscle strength of different patients, when the upper limit of the elastic force of the elastic traction device 2 is the same, training loads of different weights are set on the load connection device 4. The load connection device 4 can add different training loads to adapt to the body shapes and rehabilitation needs of different users.

[0056] The forearm fixing device 3 is used to fix the patient's upper forearm. When the patient's upper forearm is bent and raised, the force on the upper limb muscles gradually increases, thereby exercising the upper limb muscles and joints.

[0057] As the patient's upper limb strength recovers, the weight of the training load is gradually increased.

[0058] When the patient's upper limb strength recovers to the set strength value, after removing the training load, upper limb strength training is performed by stretching the elastic traction device 2. The stretching training is performed by replacing the stretching elastic traction device 2 with different elastic forces.

[0059] The present invention provides a passive wearable upper limb rehabilitation training exoskeleton device, which has a simple structure, low cost, comfortable use, and significant rehabilitation effect. It is suitable for wide promotion and use and has a good market prospect. Through reasonable design and material selection, the device can effectively meet the rehabilitation training needs of patients with upper limb dysfunction and improve their quality of life.

Claims

1. A passive wearable exoskeleton device for upper limb rehabilitation training, characterized in that: It comprises a wearable frame (1), an elastic traction device (2) arranged on the wearable frame (1), a forearm fixing device (3) and a load connecting device (4); The wearable frame (1) comprises a back support frame (11), a shoulder support tube (12) and a waist fixing device (13), wherein the two shoulder support tubes (12) are arranged at intervals on the upper end of the back support frame (11), and the waist fixing device (13) is arranged on the lower end of the back support frame (11); One end of the elastic traction device (2) passes through the shoulder support tube (12) and is connected to the back support frame (11), and the other end of the elastic traction device (2) is connected to the forearm fixing device (3); The load connection device (4) is arranged on the forearm fixing device (3) and is used to configure the training load; The training load cooperates with the elastic traction device (2) to provide a gradually changing training force.

2. The passive wearable exoskeleton device for upper limb rehabilitation training according to claim 1, characterized in that: The bottom of the shoulder support tube (12) is rotatably arranged on the back support frame (11).

3. The passive wearable exoskeleton device for upper limb rehabilitation training according to claim 1, characterized in that: The elastic traction device (2) comprises a traction rope (21) and an elastic element (22); The elastic element (22) is arranged on the back support frame (11) in a vertically stretchable manner, the upper end of the elastic element (22) is connected to a traction rope (21), and the traction rope (21) is connected to a load connection device (4).

4. The passive wearable exoskeleton device for upper limb rehabilitation training according to claim 1, characterized in that: It also comprises a back cushion (5), wherein the back cushion (5) is detachably wrapped around the outside of the back support frame (11).

5. The passive wearable exoskeleton device for upper limb rehabilitation training according to claim 4, characterized in that: It also includes a shoulder strap (6) arranged on the back cushion (5).

6. The passive wearable exoskeleton device for upper limb rehabilitation training according to claim 1, characterized in that: The forearm fixing device (3) comprises a support plate (31) and a restraining belt (32), and both ends of the restraining belt (32) are fixedly arranged on the support plate (31).

7. The passive wearable exoskeleton device for upper limb rehabilitation training according to claim 6, characterized in that: The support plate (31) is arc-shaped.

8. The passive wearable exoskeleton device for upper limb rehabilitation training according to claim 1, characterized in that: The load connection device (4) is two hand hooks arranged at a distance from each other.

9. A method for upper limb rehabilitation training, characterized in that: The passive wearable exoskeleton device for upper limb rehabilitation training according to any one of claims 1 to 8 comprises the following steps: Based on the muscle strength of different patients, when the upper limit of the elastic force of the elastic traction device (2) is the same, training loads of different weights are set on the load connection device (4); The forearm fixing device (3) is used to fix the patient's upper forearm. When the patient's upper forearm is bent and raised, the force on the upper limb muscles gradually increases, thereby exercising the upper limb muscles and joints.

10. The method for upper limb rehabilitation training according to claim 9, characterized in that: As the patient's upper limb strength recovers, gradually increase the weight of the training load; After the training load is removed, upper limb strength training is performed by stretching the elastic traction device (2).

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