Upper limb rehabilitation exercise auxiliary equipment for patient suffering from asymptomatic hyperthyroidism

Abstract

The invention discloses upper limb rehabilitation exercise auxiliary equipment for an asymptomatic patient, and relates to the technical field of rehabilitation exercise assistance. The rehabilitation training convenience of the gradual freezing patient is improved, the movement states of all fingers and elbows of the hand of the patient are monitored in real time by integrating a pressure sensor and an angle sensor, coordination control is achieved through feedback information, and the patient is helped to complete stable grabbing actions. The equipment comprises a wheelchair, a control unit, a detection unit and two groups of upper limb rehabilitation mechanisms, the two groups of upper limb rehabilitation mechanisms are respectively arranged on corresponding armrests of the wheelchair; the upper limb rehabilitation mechanism comprises an elbow rehabilitation structure and a hand rehabilitation structure connected to the elbow rehabilitation structure; the detection unit can detect the stress of the wrist of the patient, the gripping force of each finger and the flexion and extension angles of the hand joint and the elbow joint; the control unit is in communication connection with the detection unit; the control unit can control the elbow rehabilitation structure and the hand rehabilitation structure to perform cooperative training according to a detection value of the detection unit.

Description

Technical Field

[0001] The present application relates to the field of rehabilitation exercise assistance technology, and in particular to an upper limb rehabilitation exercise assistance device for patients with amyotrophic lateral sclerosis. Background Art

[0002] Amyotrophic Lateral Sclerosis (ALS) is a progressive neurodegenerative disease characterized by the gradual damage and death of motor neurons, which leads to the gradual weakness and atrophy of the patient's skeletal muscles and ultimately the loss of mobility. The motor dysfunction of ALS patients is mainly manifested as upper limb weakness, limited movement, and eventually complete loss of active movement ability. In order to slow down the rate of muscle atrophy and improve the quality of life of patients, rehabilitation exercises have become an indispensable part.

[0003] With regard to the rehabilitation needs of ALS patients, special attention should be paid to the following points: 1. Low load: The patient's muscle strength is relatively weak, and rehabilitation equipment should reduce dependence on the patient's muscle strength and not add extra burden; 2. High adaptability: The equipment needs to be able to adapt to the different stages of the patient's disease progression; 3. All-round rehabilitation: Not only single training for a certain part of the upper limb, but also rehabilitation covering multiple joints such as the elbow and hand; 4. Sustainable training: Taking into account the daily care needs of ALS patients, the design of the equipment needs to be compatible with medical devices such as wheelchairs and beds, so that patients can conduct rehabilitation training at any time in life scenarios.

[0004] In addition, existing hand rehabilitation equipment or elbow rehabilitation equipment mostly use mechanical structures to assist patients in passive training, lacking real-time monitoring and feedback control of the patient's movement status, making it difficult to achieve refined coordinated movement training. In addition, traditional equipment cannot make adaptive adjustments based on the patient's hand strength, joint angle and other dynamic information, resulting in limited training effects. Therefore, there is an urgent need for a rehabilitation device that can monitor the hand movement status in real time and achieve coordinated movement through feedback control. Summary of the invention

[0005] The embodiments of the present application provide an upper limb rehabilitation exercise assisting device for ALS patients. The device not only combines an upper limb rehabilitation mechanism with a wheelchair to specifically adapt to the condition of ALS patients who are unable to stand and walk independently, thereby improving the convenience of rehabilitation training for ALS patients, but also integrates pressure sensors and angle sensors to monitor the movement status of the patient's hand fingers and elbows in real time, and uses feedback information to achieve coordinated control, thereby helping the patient to complete a stable grasping action.

[0006] To achieve the above-mentioned objectives, an embodiment of the present application provides an upper limb rehabilitation exercise assisting device for patients with ALS, comprising a wheelchair, a control unit, a detection unit and two groups of upper limb rehabilitation mechanisms; the two groups of upper limb rehabilitation mechanisms are respectively arranged on the armrests corresponding to the wheelchair; the upper limb rehabilitation mechanism comprises an elbow rehabilitation structure and a hand rehabilitation structure connected to the elbow rehabilitation structure; the elbow rehabilitation structure can realize the flexion and extension training of the elbow joint; the hand rehabilitation structure can realize the grasping and opening movement training of the fingers; the detection unit can detect the force on the patient's wrist, the grasping force of each finger, and the flexion and extension angles of the hand joints and elbow joints; the control unit is communicatively connected to the detection unit; the control unit can control the coordinated training of the elbow rehabilitation structure and the hand rehabilitation structure according to the detection value of the detection unit to complete a stable grasping movement.

[0007] Furthermore, the elbow rehabilitation structure includes a transverse adjustment bracket, a longitudinal adjustment bracket, a stepper motor and a forearm support plate; the inner end of the transverse adjustment bracket is connected to the outer side of the armrest, and the outer end is connected to the inner lower part of the longitudinal adjustment bracket; the fixed end of the stepper motor is connected to the top of the longitudinal adjustment bracket, and the movable end is connected to the bottom rear side of the forearm support plate; the transverse adjustment bracket can adjust the horizontal position of the elbow rehabilitation structure; the longitudinal adjustment bracket can adjust the height of the elbow rehabilitation structure.

[0008] Furthermore, the hand rehabilitation structure includes a back-of-hand board bracket, five push rod motors and five finger transmission connecting rods; the back-of-hand board bracket is connected to the forearm support plate through a clamping structure; the finger transmission connecting rod and the five push rod motors are all connected to the back-of-hand board bracket; the fixed ends of the five push rod motors are all connected to the back-of-hand board bracket, and the telescopic ends are respectively connected to the corresponding finger transmission connecting rods; and finger sleeves are provided on the finger transmission connecting rods.

[0009] Furthermore, the clamping structure includes a semicircular ring buckle, a push button, four spring pins, two mounting bases and four electric telescopic rods; two first clamping holes are respectively provided at both ends of the semicircular ring buckle; the two mounting bases and the four electric telescopic rods are all located on the forearm support plate; two second clamping holes are respectively provided on the two mounting bases; the four second clamping holes correspond one by one to the four first clamping holes; the two ends of the spring pin are respectively inserted into the corresponding first clamping holes and the second clamping holes; the four electric telescopic rods are respectively located on the outside of the corresponding second clamping holes; the push button and the electric telescopic rods are both communicatively connected to the control unit.

[0010] Furthermore, the detection unit includes a first pressure sensor, a first angle sensor, multiple second pressure sensors and multiple second angle sensors; the first pressure sensor is arranged on the inner side of the semicircular ring buckle; the first angle sensor is arranged on the forearm support plate; multiple second pressure sensors are respectively arranged in corresponding finger sleeves; multiple second angle sensors are respectively arranged on corresponding finger transmission connecting rods; the controller is communicatively connected with the first pressure sensor, the first angle sensor, multiple second pressure sensors, multiple second angle sensors, the stepper motor and the push rod motor; the controller can control the movement of the stepper motor and the push rod motor according to the detection values ​​of the first pressure sensor, the first angle sensor, the second pressure sensor and the second angle sensor, so as to realize the coordinated training of the elbow rehabilitation structure and the hand rehabilitation structure.

[0011] Furthermore, the transverse adjustment bracket includes a transverse connecting sleeve connected to the armrest and a transverse slide arranged in the transverse connecting sleeve; the transverse connecting sleeve and the transverse slide are connected by a transverse adjustment mechanism; the transverse adjustment mechanism includes a transverse slide groove, multiple adjustment holes and a locking device; the transverse slide groove is opened on the transverse slide; multiple adjustment holes are opened on the transverse connecting sleeve, and the positions and sizes of the multiple adjustment holes are adapted to the slide groove; after the transverse slide slide slides to a preset position, the locking device is inserted into one of the adjustment holes and the slide groove to lock the transverse connecting sleeve and the transverse slide groove.

[0012] Furthermore, the longitudinal adjustment bracket has the same structure as the transverse adjustment bracket; the longitudinal slide of the longitudinal adjustment bracket is connected to the transverse slide of the transverse adjustment bracket; and the longitudinal connecting sleeve of the longitudinal adjustment bracket is connected to the stepping motor.

[0013] Furthermore, the back of hand support comprises a front support and a rear support; the front support is connected to the finger transmission connecting rod, and the rear support is connected to the semicircular ring buckle and the push rod motor.

[0014] Furthermore, the inner side of the back of the hand support and the upper surface of the forearm support plate are both provided with a flexible lining.

[0015] Furthermore, the mouth of the semicircular buckle is provided with an adjustable tightening structure.

[0016] Compared with the prior art, this application has the following beneficial effects: 1. The upper limb rehabilitation exercise assisting device for ALS patients in the embodiment of the present application realizes real-time monitoring and feedback control of the movements of the fingers and elbows of the hand by integrating pressure sensors and angle sensors, and can realize coordinated control of the joints of the hand to help patients complete complex grasping movements.

[0017] 2. The upper limb rehabilitation exercise assisting device for ALS patients in the embodiment of the present application can dynamically adjust the training parameters according to the real-time status of the patient to improve the training effect and safety.

[0018] 3. The upper limb rehabilitation exercise assistive device for ALS patients in the embodiment of the present application is suitable for a variety of hand rehabilitation scenarios, such as post-stroke rehabilitation, nerve injury rehabilitation, etc., and has broad clinical application value.

[0019] 4. The upper limb rehabilitation exercise assisting device for ALS patients in the embodiment of the present application can adjust the horizontal position and height of the elbow rehabilitation structure by setting a lateral adjustment bracket and a longitudinal adjustment bracket, so as to adapt to the body shapes and training needs of different patients and significantly improve the flexibility and adaptability of the device.

[0020] 5. The upper limb rehabilitation exercise assisting device for ALS patients in the embodiment of the present application integrates the elbow rehabilitation structure and the hand rehabilitation structure into the wheelchair armrests to specifically adapt to the situation of ALS patients who are unable to stand and walk independently, so that patients can perform rehabilitation training anytime and anywhere, which greatly simplifies the operation process and improves the convenience and efficiency of daily use. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present application 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 application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 This is a schematic diagram of the three-dimensional structure of an auxiliary device for upper limb rehabilitation exercise for patients with ALS according to an embodiment of the present application at one angle; Figure 2 This is a schematic diagram of the three-dimensional structure of the upper limb rehabilitation exercise auxiliary device for patients with ALS in another angle according to an embodiment of the present application; Figure 3 This is a schematic diagram of the three-dimensional structure of the elbow rehabilitation structure in the upper limb rehabilitation exercise auxiliary device for patients with ALS in an embodiment of the present application; Figure 4 This is a schematic diagram of the three-dimensional structure of the hand rehabilitation structure in the upper limb rehabilitation exercise assisting device for ALS patients in an embodiment of the present application. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0024] In the description of the present application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0025] In the description of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. For ordinary technicians in this field, they can understand the specific meanings of the above terms in this application according to specific circumstances.

[0026] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" can explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0027] An embodiment of the present application provides an upper limb rehabilitation exercise assisting device for patients with ALS, which integrates an elbow rehabilitation device and a hand rehabilitation robot on the armrests of a wheelchair to form an integrated rehabilitation training system. It also monitors the movement status of the patient's hand fingers and elbows in real time through integrated pressure sensors and angle sensors, and uses feedback information to achieve coordinated control to help patients complete stable grasping movements.

[0028] Reference Figures 1 to 4 The upper limb rehabilitation exercise auxiliary equipment for patients with ALS in the embodiment of the present application includes a wheelchair 1, two sets of upper limb rehabilitation mechanisms 2, a control unit and a detection unit (not shown in the figure).

[0029] The wheelchair 1 serves as the main frame of the equipment and has the functions of providing support and movement. Specifically, the wheelchair 1 includes components such as a frame, armrests, wheels, footrests and a seat. The frame adopts a stable metal frame, which includes a seat support part and a wheel support part, and has good load-bearing capacity and stability. The seat support part and the wheel support part are fixed by welding or bolting to ensure the durability and stability of the overall frame. The seat is a flat support structure, and the surface is made of highly elastic material to ensure the comfort of the patient for a long time sitting. Space is reserved at the bottom of the seat for connecting rehabilitation training equipment or storing accessories, and armrests are located on both sides of the seat. The upper limb rehabilitation mechanism is integrated at the front end of the armrest, which is convenient for patients to complete rehabilitation training directly in the wheelchair.

[0030] The front wheel is a universal wheel design, which can achieve flexible direction adjustment and facilitate the wheelchair to turn freely in a narrow space. The rear wheel is a large-diameter structure and is equipped with a push ring for patients or caregivers to push it. The rear wheel also has a brake system to fix the position of the wheelchair to ensure safety. The foot pedal is set at the front and bottom of the seat to support the patient's feet to prevent fatigue or discomfort caused by the lower limbs hanging in the air. The foot pedal can adjust the height or angle according to the length of the patient's legs to meet ergonomic needs.

[0031] Two sets of upper limb rehabilitation mechanisms 2 are respectively arranged on the outside of the armrests corresponding to the wheelchair 1. The upper limb rehabilitation mechanism 2 is used to implement elbow and hand rehabilitation training of the upper limbs of patients with ALS. Specifically, the upper limb rehabilitation mechanism 2 includes an elbow rehabilitation structure 21 and a hand rehabilitation structure 22 connected to the elbow rehabilitation structure 21. Therefore, the embodiment of the present application integrates the rehabilitation mechanism into the armrests of the wheelchair, so that the patient can perform rehabilitation training anytime and anywhere, which greatly simplifies the operation process and improves the convenience and efficiency of daily use. At the same time, the embodiment of the present application has both elbow and hand rehabilitation functions, which can meet the comprehensive rehabilitation needs of the upper limbs of patients with ALS.

[0032] The elbow rehabilitation structure 21 is arranged on the armrest to realize the flexion and extension training of the elbow joint. The elbow rehabilitation structure 21 comprises a lateral adjustment bracket 211 , a longitudinal adjustment bracket 212 , a stepping motor 213 and a forearm support plate 214 .

[0033] The lateral adjustment bracket 211 is a basic component connecting the elbow rehabilitation structure 21 and the armrest of the wheelchair 1. It has a porous structure to achieve the adjustability of the assembly height, and can adjust the lateral position according to the patient's height and upper limb length to ensure the best support position of the forearm support plate 214. The lateral adjustment bracket 211 is fixed to the fixing hole of the armrest of the wheelchair 1 by bolts to ensure its stability. At the same time, it allows flexible adjustment of height and position during installation.

[0034] Specifically, the transverse adjustment bracket 211 is arranged in the horizontal direction, and its inner end is connected to the outer side of the armrest, and the outer end is connected to the inner lower part of the longitudinal adjustment bracket 212. The transverse adjustment bracket 211 can adjust the horizontal position of the elbow rehabilitation structure 21. It should be noted that the inner end here refers to the end close to the wheelchair 1, and the outer end refers to the end away from the wheelchair 1. Specifically, the transverse adjustment bracket 211 includes a transverse connecting sleeve 2111 and a transverse sliding plate 2112. The inner end of the transverse connecting sleeve 2111 is connected to the outer side of the armrest, and the transverse sliding plate 2112 is slidably connected in the transverse connecting sleeve 2111.

[0035] The transverse connecting sleeve 2111 and the transverse slide 2112 are connected by a transverse adjustment mechanism. The transverse adjustment mechanism includes a transverse slide (not shown in the figure), a plurality of adjustment holes 2113 and a locking device (not shown in the figure). The transverse slide is provided on the transverse slide 2112, and a plurality of adjustment holes 2113 are provided on the transverse connecting sleeve 2111, and the positions and sizes of the plurality of adjustment holes 2113 are adapted to the slide. After the transverse slide 2112 slides to the preset position, the locking device is inserted into one of the adjustment holes 2113 and the slide to lock the transverse connecting sleeve 2111 and the transverse slide 2112. Therefore, by designing the transverse connecting sleeve 2111 as a porous structure and by cooperating with the slide and the locking device, the horizontal position of the elbow rehabilitation structure 21 can be adjusted to accommodate patients of different body shapes.

[0036] The longitudinal adjustment bracket 212 is arranged on the outside of the transverse adjustment bracket 211 and is arranged in the vertical direction. The height is adjusted by the slide groove and the locking device. It is responsible for realizing the vertical height adjustment of the forearm support plate 214 to meet the elbow rehabilitation needs of different patients, especially suitable for the changes in support height at different stages of the disease.

[0037] Specifically, the longitudinal adjustment bracket 212 has the same structure as the transverse adjustment bracket 211. The longitudinal slide of the longitudinal adjustment bracket 212 is connected to the transverse slide 2112 of the transverse adjustment bracket 211, and the longitudinal connecting sleeve of the longitudinal adjustment bracket 212 is connected to the stepping motor 213. In summary, the configuration of the transverse adjustment bracket 211 and the longitudinal adjustment bracket 212 can adapt to the body shapes and training needs of different patients, and significantly improve the flexibility and adaptability of the equipment.

[0038] The fixed end of the stepper motor 213 is connected to the top of the longitudinal adjustment bracket 212, and the movable end is connected to the bottom rear side of the forearm support plate 214 through a rotating shaft, forming a power transmission mechanism for elbow joint training. The stepper motor 213, as a power source, can drive the forearm support plate 214 to perform elbow joint flexion and extension training, and has the characteristics of high precision and strong controllability.

[0039] The forearm support plate 214 is a support platform for lifting the patient's forearm, and it adopts a long strip plate with semicircular front and rear edges, which conforms to ergonomic design. In order to improve the comfort of use, the upper surface of the forearm support plate 214 is covered with a flexible lining.

[0040] The hand rehabilitation structure 22 can realize the grasping and opening movement training of the fingers. The hand rehabilitation structure 22 includes a back of hand support 221, five push rod motors 222 and five finger transmission connecting rods 223. The back of hand support 221 is connected to the forearm support plate 214 through a clamping structure 23. The hand rehabilitation structure 22 is a prior art.

[0041] The back-of-hand plate bracket 221 includes a front bracket 2211 and a rear bracket 2212. The front bracket 2211 is the main support frame of the entire hand rehabilitation structure, and its surface shape conforms to the ergonomic design to fit the back of the patient's hand. It is used to fix the back of the patient's hand and provide a mounting base for the hand rehabilitation structure, so that the patient can complete the movement training without providing any additional support force. In order to improve the comfort of use, the upper surface of the back-of-hand plate bracket 221 is also covered with a flexible lining. A plurality of mounting holes or fixing parts are provided on the front bracket 2211 and the rear bracket 2212, and the clamping structure 23 is connected to the rear bracket 2212. The fixed ends of the five push rod motors 222 are all connected to the rear bracket 2212, and the telescopic ends are respectively connected to the corresponding finger transmission connecting rods 223.

[0042] The finger transmission link 223 is connected to the front bracket 2211. The push rod motor 222 is used to drive the finger transmission link 223 to move. The finger transmission link 223 is composed of multiple groups of planar links, which correspond to each finger joint of the patient. Through the drive of the push rod motor 222, the power is transmitted to each finger joint to achieve the flexion, extension, grasping, opening and other movements of the fingers. The finger transmission link 223 is connected to the patient's finger through a flexible finger sleeve or a fixed clip to ensure accurate movement transmission and comfortable wearing for the patient. As a result, the driving process of the finger transmission link 223 can be precisely controlled to meet the rehabilitation needs of ALS patients. In addition, the hand rehabilitation structure 22 actively drives the patient's hand movements through the manipulator, completely eliminating the patient's need for external force support, and meeting the rehabilitation assistance requirements of ALS patients.

[0043] The clamping structure 23 includes a semicircular ring buckle 231 , a push button (not shown in the figure), four spring pins 232 , two mounting bases 233 and four electric telescopic rods (not shown in the figure).

[0044] The semicircular ring buckle 231 is made of a light and high-strength material, such as aluminum alloy or medical-grade polymer. It is lined with soft materials such as silicone or foam to increase comfort. When in use, the semicircular ring buckle 231 is buckled on the patient's wrist. The mouth of the semicircular ring buckle 231 is provided with an adjustable tightening structure, such as a ratchet or Velcro, to adapt to the wrist sizes of different patients. Two first clamping holes are respectively provided at both ends of the bottom of the semicircular ring buckle 231.

[0045] The two mounting bases 233 and the four electric push rods are all located on the forearm support plate 214. The two mounting bases are both arranged near the front end of the forearm support plate 214 and are arranged symmetrically with respect to the center line of the forearm support plate 214. The mounting base can be integrally formed with the forearm support plate 214, or can be fastened by a quick locking structure such as a buckle or a threaded locking to ensure that the base is stable and easy to disassemble.

[0046] Two second clamping holes are provided on each of the two mounting bases 233, and the four second clamping holes correspond to the four first clamping holes one by one. The two ends of the spring pin 232 are respectively inserted into the corresponding first clamping hole and the second clamping hole, and the four electric telescopic rods are respectively located outside the corresponding second clamping holes.

[0047] The push button and the electric telescopic rod are both connected to the control unit for communication. The push button is set on the armrest. After pressing the push button, the control unit controls the electric telescopic rod to extend, the spring pin 232 is compressed and retracted, the lock is released, and the semicircular ring buckle 231 and the hand rehabilitation structure 22 are disassembled together. When the hand rehabilitation structure 22 needs to be locked, the push button is pressed again to reset it, the control unit controls the electric telescopic rod to retract, the spring pin 232 is reset, and the hand rehabilitation structure 22 is locked. The clamping structure 23 can realize the rapid installation and disassembly of the hand rehabilitation structure 22 for maintenance and replacement, and can also ensure that the hand rehabilitation structure 22 can keep synchronous adjustment with the movement of the elbow.

[0048] It should be noted that the semicircular ring buckle 231 can be removed as a whole or the inner side can be removed and then flipped to the outer side. In other words, the control unit can control the actions of four or two electric telescopic rods at the same time.

[0049] The detection unit includes a first pressure sensor (not shown in the figure), a first angle sensor (not shown in the figure), a plurality of second pressure sensors (not shown in the figure) and a plurality of second angle sensors (not shown in the figure). Both the first pressure sensor and the second pressure sensor are thin-film or piezoresistive sensors with high sensitivity and low hysteresis characteristics. The first angle sensor and the second angle sensor are photoelectric encoders or MEMS gyroscopes, which can accurately measure the flexion and extension angles and rotation angles of the joints.

[0050] The first pressure sensor is arranged on the inner side of the semicircular ring buckle 231. The first pressure sensor is used to monitor the force applied to the patient's wrist in real time. The first angle sensor is arranged at the elbow joint, such as on the forearm support plate. The first angle sensor is used to monitor the flexion and extension angles of the elbow joint in real time. A plurality of second pressure sensors are respectively arranged in corresponding finger sleeves, and a plurality of second angle sensors are respectively arranged at the joints of corresponding finger transmission connecting rods. The second pressure sensor is used to monitor the gripping force distribution of each finger of the patient's hand in real time. The second angle sensor is used to monitor the flexion and extension angles of each joint of the hand in real time.

[0051] The control unit is a controller installed at the bottom of the wheelchair 1. The control unit is connected to the first pressure sensor, the first angle sensor, the plurality of second pressure sensors, the plurality of second angle sensors, the stepper motor 213 and the push rod motor 222. The controller can control the stepper motor 213 and the push rod motor 222 to move according to the detection values ​​of the first pressure sensor, the first angle sensor, the second pressure sensor and the second angle sensor, so as to realize the coordinated training of the elbow rehabilitation structure and the hand rehabilitation structure.

[0052] Specifically, the control unit includes a data processing unit and a feedback control system.

[0053] The data processing unit includes a signal acquisition module and a data processing algorithm module. The signal acquisition module is responsible for collecting real-time data from the pressure sensor and angle sensor, and filtering and amplifying the data to ensure the accuracy and stability of the data. Based on the collected sensor data, the data processing algorithm module uses a machine learning algorithm (such as a support vector machine or a neural network) to analyze the patient's hand movement status and identify movement intentions and abnormal states.

[0054] The feedback control system includes a coordination control module and an adaptive adjustment module. The coordination control module generates control instructions based on sensor data and motion analysis results, adjusts the driving device of the rehabilitation equipment (such as a motor or pneumatic actuator), and realizes coordinated control of the movements of the fingers and elbows of the hand. The adaptive adjustment module dynamically adjusts the movement parameters of the rehabilitation equipment (such as strength, speed, and angle) according to the patient's real-time movement status and training progress to ensure the safety and effectiveness of the training process.

[0055] A lithium battery 3 is also provided at the bottom of the wheelchair 1, and the lithium battery 3 is integrated with the control unit. The lithium battery supplies power to the elbow rehabilitation structure 21, the hand rehabilitation structure 22 and the control unit.

[0056] The working principle of the upper limb rehabilitation exercise auxiliary device for patients with ALS in the embodiment of the present application is as follows: When stable grasping training needs to be completed, the first pressure sensor monitors the force state of the patient's wrist in real time, the second pressure sensor monitors the grasping force distribution of each finger of the patient's hand in real time, the first angle sensor monitors the flexion and extension angle of the elbow joint in real time, and the second angle sensor monitors the flexion and extension angle of each joint of the hand in real time. The control unit receives the grasping strength of the hand and the joint angles of the hand and elbow, and compares the received grasping strength of the hand and the joint angles of the hand and elbow with the preset grasping strength and joint angles, and then drives the stepper motor 213 and one or more of the push rod motors 222 to move, so as to help the patient complete the stable grasping action of the object.

[0057] The implementation of this application can also complete multi-joint coordination training, simulate complex movements in daily life (such as holding a cup, writing, etc.), and improve the patient's motor coordination ability. Its working principle is similar to stable grasping training, the only difference is that it does not require a detection unit for detection and control feedback, and only needs to be trained according to preset parameters.

[0058] The implementation of the present application can also independently realize auxiliary training of elbow function. The controller controls the stepper motor 213 to rotate, driving the forearm support plate 214 to perform flexion and extension movements around the rotation axis, ensuring that the patient's elbow joint can achieve accurate rehabilitation training.

[0059] The implementation of the present application can also independently realize hand function auxiliary training. The controller controls the extension and retraction of the push rod motor 222, drives the finger transmission connecting rod 223 to move, and drives the patient's fingers to complete grasping, opening and other movement training.

[0060] In summary, the upper limb rehabilitation exercise assistive device for ALS patients in the embodiment of the present application can obtain the movement state of the patient's hand in real time through high-precision sensors, providing reliable data support for coordinated control. At the same time, based on the sensor feedback information, it can achieve coordinated control of the joints of the hand, help patients complete complex grasping movements, and dynamically adjust training parameters according to the patient's real-time state to improve training effect and safety.

[0061] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. An upper limb rehabilitation exercise assisting device for patients with ALS, characterized in that: It includes a wheelchair, a control unit, a detection unit and two groups of upper limb rehabilitation mechanisms; the two groups of upper limb rehabilitation mechanisms are respectively arranged on the armrests corresponding to the wheelchair; the upper limb rehabilitation mechanism includes an elbow rehabilitation structure and a hand rehabilitation structure connected to the elbow rehabilitation structure; the elbow rehabilitation structure can realize the flexion and extension training of the elbow joint; the hand rehabilitation structure can realize the grasping and opening movement training of the fingers; the detection unit can detect the force on the patient's wrist, the grasping force of each finger and the flexion and extension angles of the hand joints and elbow joints; the control unit is communicatively connected with the detection unit; the control unit can control the coordinated training of the elbow rehabilitation structure and the hand rehabilitation structure according to the detection value of the detection unit to complete a stable grasping movement.

2. The upper limb rehabilitation exercise auxiliary device for patients with ALS according to claim 1, characterized in that: The elbow rehabilitation structure includes a transverse adjustment bracket, a longitudinal adjustment bracket, a stepper motor and a forearm support plate; the inner end of the transverse adjustment bracket is connected to the outer side of the armrest, and the outer end is connected to the inner lower part of the longitudinal adjustment bracket; the fixed end of the stepper motor is connected to the top of the longitudinal adjustment bracket, and the movable end is connected to the bottom rear side of the forearm support plate; the transverse adjustment bracket can adjust the horizontal position of the elbow rehabilitation structure; the longitudinal adjustment bracket can adjust the height of the elbow rehabilitation structure.

3. The upper limb rehabilitation exercise auxiliary device for patients with ALS according to claim 2, characterized in that: The hand rehabilitation structure includes a back-of-hand board bracket, five push rod motors and five finger transmission connecting rods; the back-of-hand board bracket is connected to the forearm support plate through a clamping structure; the finger transmission connecting rod and the five push rod motors are all connected to the back-of-hand board bracket; the fixed ends of the five push rod motors are all connected to the back-of-hand board bracket, and the telescopic ends are respectively connected to the corresponding finger transmission connecting rods; and finger sleeves are provided on the finger transmission connecting rods.

4. The upper limb rehabilitation exercise auxiliary device for patients with ALS according to claim 3, characterized in that: The clamping structure includes a semicircular ring buckle, a push button, four spring pins, two mounting bases and four electric telescopic rods; two first clamping holes are respectively provided at both ends of the semicircular ring buckle; the two mounting bases and the four electric telescopic rods are all located on the forearm support plate; two second clamping holes are respectively provided on the two mounting bases; the four second clamping holes correspond to the four first clamping holes one by one; the two ends of the spring pin are respectively inserted into the corresponding first clamping holes and the second clamping holes; the four electric telescopic rods are respectively located on the outside of the corresponding second clamping holes; the push button and the electric telescopic rods are both communicatively connected with the control unit.

5. The upper limb rehabilitation exercise auxiliary device for patients with ALS according to claim 4, characterized in that: The detection unit includes a first pressure sensor, a first angle sensor, multiple second pressure sensors and multiple second angle sensors; the first pressure sensor is arranged on the inner side of the semicircular ring buckle; the first angle sensor is arranged on the forearm support plate; the multiple second pressure sensors are respectively arranged in the corresponding finger sleeves; the multiple second angle sensors are respectively arranged on the corresponding finger transmission connecting rods; the controller is communicatively connected with the first pressure sensor, the first angle sensor, the multiple second pressure sensors, the multiple second angle sensors, the stepper motor and the push rod motor; the controller can control the movement of the stepper motor and the push rod motor according to the detection values ​​of the first pressure sensor, the first angle sensor, the second pressure sensor and the second angle sensor, so as to realize the coordinated training of the elbow rehabilitation structure and the hand rehabilitation structure.

6. The upper limb rehabilitation exercise auxiliary device for patients with ALS according to claim 5, characterized in that: The transverse adjustment bracket includes a transverse connecting sleeve connected to the armrest and a transverse slide arranged in the transverse connecting sleeve; the transverse connecting sleeve and the transverse slide are connected by a transverse adjustment mechanism; the transverse adjustment mechanism includes a transverse slide groove, multiple adjustment holes and a locking device; the transverse slide groove is provided on the transverse slide; multiple adjustment holes are provided on the transverse connecting sleeve, and the positions and sizes of the multiple adjustment holes are adapted to the slide groove; after the transverse slide slide slides to a preset position, the locking device is inserted into one of the adjustment holes and the slide groove to lock the transverse connecting sleeve and the transverse slide groove.

7. The upper limb rehabilitation exercise auxiliary device for patients with ALS according to claim 6, characterized in that: The longitudinal adjustment bracket has the same structure as the transverse adjustment bracket; the longitudinal slide plate of the longitudinal adjustment bracket is connected to the transverse slide plate of the transverse adjustment bracket; and the longitudinal connecting sleeve of the longitudinal adjustment bracket is connected to the stepping motor.

8. The upper limb rehabilitation exercise auxiliary device for patients with ALS according to claim 7, characterized in that: The back of hand support comprises a front support and a rear support; the front support is connected with the finger transmission connecting rod, and the rear support is connected with the semicircular ring buckle and the push rod motor.

9. The upper limb rehabilitation exercise auxiliary device for patients with ALS according to claim 8, characterized in that: The inner side of the back of hand support and the upper surface of the forearm support are both provided with flexible linings.

10. The upper limb rehabilitation exercise auxiliary device for patients with ALS according to claim 9, characterized in that: The mouth of the semicircular ring buckle is provided with an adjustable tightening structure.

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