Upper limb training device for stroke rehabilitation
By designing an upper limb training device that includes shoulder, arm and hand fixing units and joint connection structures, the problem that the existing devices cannot meet the needs of complex upper limb movement rehabilitation, and comprehensive activity exercises and personalized training are achieved, which improves the rehabilitation effect and training flexibility.
Patent Information
- Application Number
- CN202510391786.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-31
- Publication Date
- 2025-05-23
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
The existing upper limb training device for stroke rehabilitation cannot meet the needs of complex upper limb movement rehabilitation, and cannot automatically adjust the training intensity and difficulty according to individual differences. The device is large in size, heavy in weight, inconvenient to move, and is not stable and comfortable enough, which affects the training effect.
An upper limb training device including a shoulder fixing unit, a big arm fixing unit, a forearm fixing unit and a hand movement unit is designed. Combined with the joint connection structure and the wrist connection structure, it realizes all-round exercises of the shoulder joint, elbow joint and wrist joint. The device uses a micro motor, an eccentric rotating wheel and an electric telescopic rod to simulate massage and adjust the training intensity, and automatically adjust the training parameters through an intelligent control system.
It realizes all-round exercises of the shoulder, elbow and wrist joints, meets the rehabilitation needs of different parts of the upper limbs of stroke patients, improves the rehabilitation effect, and automatically adjusts the training intensity and difficulty according to individual differences through an intelligent control system, enhancing the flexibility and scientific nature of the training.
Smart Images
Figure CN120022160A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of medical rehabilitation equipment, and more specifically, to an upper limb training device for stroke rehabilitation. Background Art
[0002] Stroke, commonly known as "stroke", is an acute disease that causes brain tissue damage due to sudden rupture or blockage of blood vessels in the brain. According to statistics from the World Health Organization, stroke has become one of the leading causes of death and disability worldwide. The incidence and disability rates of stroke are particularly high, bringing a heavy burden to patients and their families.
[0003] After a stroke, patients often experience varying degrees of upper limb dysfunction, manifested as limb weakness, incoordination, muscle spasms and other symptoms. These dysfunctions seriously affect the patient's ability to take care of themselves, and daily activities such as dressing, eating, and grasping may become difficult. Traditional rehabilitation training methods mainly rely on the manual operation of rehabilitation therapists to help patients restore limb function through passive exercise, massage, physical therapy and other methods. However, the labor intensity of rehabilitation therapists is high, and long-term manual operation can easily lead to therapist fatigue, which in turn affects the rehabilitation effect.
[0004] With the continuous advancement of science and technology, some devices that can help stroke patients with upper limb training are now available on the market. However, current upper limb training devices still have the following problems: (1) Existing devices only provide simple conventional training movements such as flexion and extension, rotation, etc., which cannot meet the needs of complex upper limb movement rehabilitation; (2) Existing devices cannot automatically adjust the training intensity, speed and difficulty according to individual differences such as the patient's condition, muscle strength, and motor ability; (3) Existing devices are large in size and heavy in weight, making them inconvenient to move and carry. Patients can only use them in fixed rehabilitation sites, which cannot meet the needs of home or outdoor rehabilitation training, reducing the flexibility and frequency of use; (4) Some existing devices are not stable or comfortable enough, and the upper limbs are easily displaced during training, which affects the training effect and may also cause joint and muscle strains. They are also difficult to adapt to patients of different body shapes.
[0005] Therefore, the present invention aims to provide an upper limb training device for stroke rehabilitation to solve the above-mentioned problems. Summary of the invention
[0006] The purpose of the present invention is to provide an upper limb training device for stroke rehabilitation. The present invention can effectively realize all-round activity training of shoulder joints, elbow joints and wrist joints through the arrangement of a shoulder fixing unit, an upper arm fixing unit, a forearm fixing unit and a hand activity unit, combined with a joint connection structure and a wrist connection structure, so as to meet the rehabilitation needs of different parts of the upper limbs of stroke patients and improve the rehabilitation effect.
[0007] The above technical objectives of the present invention are achieved through the following technical solutions: an upper limb training device for stroke rehabilitation, comprising a backrest cushion, upper limb training mechanisms are symmetrically arranged on both sides of the backrest cushion, and the upper limb training mechanisms are used to help patients perform upper limb training;
[0008] The upper limb exercise mechanism includes a shoulder fixing unit, an upper arm fixing unit, a forearm fixing unit, a hand movable unit, two joint connection structures and a wrist connection structure; among the two joint connection structures, one joint connection structure is used to connect the shoulder fixing unit and the upper arm fixing unit, the other joint connection structure is used to connect the upper arm fixing unit and the forearm fixing unit, and the wrist connection structure is used to connect the forearm fixing unit and the hand movable unit.
[0009] By adopting the above technical scheme, upper limb training mechanisms are symmetrically arranged on both sides of the back cushion. The upper limb training mechanisms are specifically arranged through the shoulder fixing unit, the upper arm fixing unit, the forearm fixing unit and the hand activity unit, and combined with the joint connection structure and the wrist connection structure, which can effectively realize the full range of activity training of the shoulder joint, elbow joint and wrist joint, thereby meeting the rehabilitation needs of different parts of the upper limbs of stroke patients and improving the rehabilitation effect.
[0010] The present invention is further configured as follows: a movable connection structure is provided between the shoulder fixing unit and the back cushion, and the movable connection structure is used to assist the patient in exercising the shoulder; the movable connection structure includes a micro motor, an eccentric rotating wheel and an electric telescopic rod; the fixed end of the micro motor is fixedly connected to the back cushion, the output end of the micro motor is fixedly connected to the eccentric rotating wheel, and the output end of the micro motor does not coincide with the geometric center of the eccentric rotating wheel, thereby realizing the eccentric rotation of the eccentric rotating wheel, the electric telescopic rod is fixedly connected to the eccentric rotating wheel, and the other end of the electric telescopic rod is hinged to the shoulder fixing unit.
[0011] By adopting the above technical scheme, the fixed end of the micro motor is fixedly connected to the back cushion, the output end of the micro motor is fixedly connected to the eccentric rotating wheel, and the output end of the micro motor does not coincide with the geometric center of the eccentric rotating wheel 1, thereby realizing the eccentric rotation of the eccentric rotating wheel 1, so that the shoulder fixing unit can be driven to rotate by the micro motor to simulate the action of massaging the patient's shoulders. The electric telescopic rod 1 is fixedly connected to the eccentric rotating wheel 1, and the other end of the electric telescopic rod 1 is hinged to the shoulder fixing unit. By controlling the length of the electric telescopic rod 1, the rotation amplitude of the shoulder fixing unit can be changed, thereby effectively controlling the action strength of simulating massaging the patient's shoulders.
[0012] The present invention is further configured as follows: the joint connection structure includes an electric telescopic rod 2, a rack column, an arcuate rack plate and a joint connecting rod; the fixed end of the electric telescopic rod 2 is fixedly connected to the upper limb exercise mechanism, the telescopic end of the electric telescopic rod 2 is fixedly connected to the rack column, the arcuate rack plate is meshed with the rack column, and the end of the arcuate rack plate away from the rack column is fixedly connected to the joint connecting rod.
[0013] By adopting the above technical solution, the fixed end of the electric telescopic rod 2 is fixedly connected to the upper limb exercise mechanism, the telescopic end of the electric telescopic rod 2 is fixedly connected to the rack column, the arc-shaped rack plate is meshed with the rack column, and the end of the arc-shaped rack plate away from the rack column is fixedly connected to the joint connecting rod. By controlling the length of the electric telescopic rod 2, the arc-shaped rack plate can be driven to rotate, and then the joint connecting rod can be driven to swing. The swing of the joint connecting rod drives the upper and lower arm fixed units to swing, which is used to simulate the patient's upper and lower arm flexion and extension training movements.
[0014] The present invention is further configured as follows: the upper limb exercise mechanism is also provided with an arc-shaped groove, and a slider 1 is provided at the end of the joint connecting rod away from the arc-shaped rack plate, and the slider 1 is located in the arc-shaped groove.
[0015] By adopting the above technical solution, an arc-shaped groove is also provided in the upper limb exercise mechanism, and a slider is provided at the end of the joint connecting rod away from the arc-shaped rack plate. The slider slides in the arc-shaped groove, so that the upper and lower arms can rotate relative to each other, thereby completing a training action that simulates the rotation of the patient's upper and lower arms.
[0016] The present invention is further configured as follows: the hand activity unit includes a finger grip ball, a second slider and a coil spring; the finger grip ball is provided with a slide groove corresponding to the finger position, the second slider is located in the slide groove, and the two ends of the coil spring are respectively connected to the finger grip ball and the second slider.
[0017] By adopting the above technical solution, a slide groove corresponding to the finger position is provided on the finger grip ball, the slider 2 is located in the slide groove, and the two ends of the coil spring are respectively connected to the finger grip ball and the slider 2. The patient's fingers act on the slider 2, which can simulate the patient's grasping action in daily life. At the same time, the coil spring has a reaction force on the slider 2, so that the patient can accurately feel his or her grasping strength, thereby better helping the patient to exercise the grasping ability of his or her fingers.
[0018] The present invention is further configured as follows: the wrist connection structure includes an electric telescopic rod three and a movable rod, the fixed end of the electric telescopic rod three is fixedly connected to the upper limb exercise mechanism, the telescopic end of the electric telescopic rod three is connected to the movable rod, and the end of the movable rod away from the electric telescopic rod three is connected to the finger grip ball.
[0019] By adopting the above technical solution, the fixed end of the electric telescopic rod three is fixedly connected to the upper limb exercise mechanism, the telescopic end of the electric telescopic rod three is connected to the movable rod, and the end of the movable rod away from the electric telescopic rod three is connected to the finger grip ball, so that the finger grip ball can be driven to rotate by controlling the length of the electric telescopic rod three, which is used to simulate the patient's wrist rotation movement and help the patient with wrist activity training.
[0020] The present invention is further configured as follows: an eccentric rotating wheel 2, a rotating shaft and multiple steel wires are also provided in the finger grip ball; one end of the multiple steel wires are connected to the eccentric rotating wheel 2, one end of the multiple steel wires away from the eccentric rotating wheel 2 is connected to the slider 2, and one end of the movable rod away from the electric telescopic rod 3 is connected to the eccentric rotating wheel.
[0021] By adopting the above technical scheme, one end of the multiple steel wires is connected to the eccentric rotating wheel 2, the end of the multiple steel wires away from the eccentric rotating wheel 2 is connected to the slider 2, and the end of the movable rod away from the electric telescopic rod 3 is connected to the eccentric rotating wheel, so that when the length of the electric telescopic rod 3 is controlled, the eccentric rotating wheel 2 can be driven to rotate eccentrically, and at the same time, the slider 2 is driven by the steel wire to slide up and down in the slide groove, which is used to actively assist the patient's fingers to grasp, thereby further exercising the patient's finger grasping ability.
[0022] The present invention is further configured as follows: an air bag is provided inside the upper limb exercise mechanism, the air bag is used to fix the patient's upper limbs, and a plurality of rubber protrusions are also provided on the surface of the air bag.
[0023] By adopting the above technical solution, an airbag is arranged inside the upper limb exercise mechanism. The airbag can fix the upper limbs of patients of different body shapes by inflation, and is adaptable. At the same time, the airbag can disperse the pressure on the patient's surface, which protects the patient's upper limbs while enhancing the patient's comfort and improving the patient's compliance with rehabilitation training. A plurality of rubber protrusions are also arranged on the surface of the airbag. During the training process, the patient produces relative friction and compression with the rubber protrusions, so that the rubber protrusions can massage the patient's upper limbs, which can better help the patient's upper limbs to rehabilitate.
[0024] The present invention is further configured as follows: the upper limb training device is also provided with a PLC controller and an electric air pump, a sensor is provided on the surface of the airbag, the PLC controller is electrically connected to the electric air pump, the sensor, the micro motor, electric telescopic rod one, electric telescopic rod two and electric telescopic rod three, and the PLC controller is integrated with an intelligent control system.
[0025] By adopting the above technical scheme, a PLC controller and an electric air pump are also provided on the upper limb training device, and a sensor is provided on the surface of the airbag. The PLC controller is electrically connected to the electric air pump, the sensor, the micro motor, the electric telescopic rod one, the electric telescopic rod two and the electric telescopic rod three. The current pressure on the surface of the patient's upper limb can be obtained through the sensor, and then the PLC controller can automatically control the electric air pump to inflate the airbag, so as to ensure that the patient's upper limb is always within a comfortable pressure range wrapped by the airbag, and then the PLC controller can be used to control the operation of the corresponding electrical components within a precise range, thereby accurately helping the patient to perform upper limb rehabilitation training.
[0026] The present invention is further configured as follows: the intelligent control system includes a voice acquisition module, a data processing module, an automatic control module, an intelligent analysis module and a voice broadcast module;
[0027] The voice acquisition module is used to collect the patient's voice signal, and convert the voice signal into an electrical signal and transmit it to the data processing module; the data processing module receives the electrical signal in the voice acquisition module and performs signal filtering and format conversion to obtain an accurate digital signal and transmit it to the automatic control module; the automatic control module receives the digital signal in the data processing module and converts it into a control instruction to automatically control the electrical components; the intelligent analysis module receives the digital signal in the data processing module and analyzes it, generates voice instructions to guide the patient's exercise, and transmits it to the voice playback module; the voice playback module receives the voice instructions of the intelligent analysis module and converts them into voice signals for broadcasting.
[0028] By adopting the above technical solution, the voice acquisition module is used to collect the patient's voice signal, the data processing module converts the voice signal into a digital signal, the automatic control module receives the digital signal and converts it into a control instruction to automatically control the electrical component, the intelligent analysis module receives the digital signal for analysis, generates voice instructions to guide the patient's exercise, and the voice playback module receives the voice instructions for broadcasting, which can better guide and help patients to perform upper limb rehabilitation training.
[0029] In summary, the present invention has the following beneficial effects:
[0030] 1. The present invention can effectively realize the full range of motion training of the shoulder joint, elbow joint and wrist joint by setting the shoulder fixing unit, the upper arm fixing unit, the forearm fixing unit and the hand movable unit, combined with the joint connection structure and the wrist connection structure, and meet the rehabilitation needs of different parts of the upper limbs of stroke patients. At the same time, the shoulder fixing unit can simulate the action of massaging the patient's shoulder through the cooperation of the micro motor, the eccentric rotating wheel and the electric telescopic rod. The massage intensity can also be adjusted by controlling the length of the electric telescopic rod, so that the patient can perform personalized exercise according to his own situation, which helps to improve the rehabilitation effect;
[0031] 2. The present invention adopts a combination of an electric telescopic rod, a rack column, an arc-shaped rack plate and a joint connecting rod in the joint connection structure. By controlling the length of the electric telescopic rod, the arc-shaped rack plate is driven to rotate, and then the joint connecting rod is driven to swing, so as to realize the flexion and extension training action of the upper and lower arms, simulate the movement of the patient's arm in daily life, and help to restore the movement function of the arm. At the same time, the arc-shaped groove and the slider structure provided in the upper limb exercise mechanism of the present invention enable the upper and lower arms to rotate relative to each other, complete the training action of simulating the rotation of the upper and lower arms of the patient, further enrich the content of rehabilitation training, and promote the recovery of joint flexibility;
[0032] 3. The hand activity unit of the present invention comprises a finger grip ball, a slider 2 and a coil spring. The patient's fingers act on the slider 2 to simulate the grasping action in daily life. At the same time, the coil spring has a reaction force on the slider 2, so that the patient can accurately feel his or her grasping strength and effectively exercise the grasping ability of the fingers. At the same time, the wrist connection structure is composed of an electric telescopic rod 3 and an active rod. By controlling the length of the electric telescopic rod 3, the finger grip ball is driven to rotate, simulating the patient's wrist rotation action, helping the patient to perform wrist activity training, and promoting the rehabilitation of the wrist joint;
[0033] 4. The eccentric rotating wheel 2, the rotating shaft and the steel wire structure provided in the finger grip ball of the present invention can drive the eccentric rotating wheel 2 to rotate eccentrically when controlling the length of the electric telescopic rod 3, and the steel wire drives the slider 2 to slide up and down along the slide groove, actively assisting the patient's fingers to grasp, and further improving the training effect of the finger grasping ability;
[0034] 5. The present invention is provided with an airbag inside the upper limb exercise mechanism. The airbag can fix the upper limbs of patients of different body shapes by inflation, and has good adaptability. At the same time, the airbag can disperse the pressure on the surface of the patient, protect the upper limbs of the patient, enhance the comfort of the patient, and improve the compliance of the patient in rehabilitation training. The rubber protrusions on the surface of the airbag can also produce relative friction and compression with the upper limbs of the patient during training, play a massage role, and better help the patient's upper limbs to rehabilitate;
[0035] 6. The present invention can obtain the pressure on the surface of the patient's upper limbs through sensors, and the PLC controller automatically controls the electric air pump to inflate the airbag to ensure that the patient's upper limbs are within a comfortable pressure range. The intelligent control system collects the patient's voice signal through the voice acquisition module, converts it into a digital signal through the data processing module, and the automatic control module converts the digital signal into a control instruction. The intelligent analysis module generates voice instructions to guide the patient's exercise, and the voice playback module broadcasts it, thereby achieving accurate guidance and assistance for the patient's rehabilitation training and improving the scientificity and effectiveness of rehabilitation training. BRIEF DESCRIPTION OF THE DRAWINGS
[0036] Figure 1 is a schematic diagram of the appearance of an upper limb training device for stroke rehabilitation according to an embodiment of the present invention;
[0037] Figure 2 is a schematic diagram of an active connection structure in an embodiment of the present invention;
[0038] Figure 3 is a schematic diagram of the connection between the rack column and the arc-shaped rack plate in an embodiment of the present invention;
[0039] Figure 4 is a schematic diagram of the connection between the joint connecting rod and the arc-shaped groove in an embodiment of the present invention;
[0040] Figure 5 is a cross-sectional view of a connection structure of a ball grip and a wrist in an embodiment of the present invention;
[0041] Figure 6 It is a schematic diagram of the connection between an upper limb training device for stroke rehabilitation and a seat cushion in an embodiment of the present invention;
[0042] Figure 7 is a schematic diagram of the connection between a PLC controller and an electrical component in an embodiment of the present invention;
[0043] Figure 8 It is a schematic diagram of the module structure of the intelligent control system in an embodiment of the present invention.
[0044] In the figure: 1. back cushion; 2. shoulder elastic strap; 3. waist elastic strap; 4. shoulder fixing unit; 5. joint connection structure; 6. upper arm fixing unit; 7. lower arm fixing unit; 8. wrist connection structure; 9. hand movable unit; 10. seat cushion; 11. eccentric rotating wheel 1; 12. micro motor; 13. electric telescopic rod 1; 14. electric telescopic rod 2; 15. rack column; 16. arc-shaped rack plate; 17. joint connecting rod; 18. arc-shaped groove ; 19. Slider 1; 20. Airbag; 21. Electric telescopic rod 3; 22. Movable rod; 23. Eccentric rotating wheel 2; 24. Rotating shaft; 25. Finger grip ball; 26. Slider 2; 27. Slide groove; 28. Coil spring; 29. Steel wire; 30. Sensor; 31. PLC controller; 32. Electric air pump; 33. Voice acquisition module; 34. Data processing module; 35. Automatic control module; 36. Data analysis module; 37. Voice broadcast module. DETAILED DESCRIPTION
[0045] The following is combined with Figure 1-8 The present invention is described in further detail.
[0046] Embodiment: An upper limb training device for stroke rehabilitation comprises a backrest pad 1, a shoulder elastic strap 2 and a waist elastic strap 3 are installed on the front of the backrest pad 1 through buckles, so that the backrest pad 1 can be fixed to the patient, meeting the needs of outdoor rehabilitation training and increasing the flexibility and frequency of use. Upper limb training mechanisms are symmetrically installed on both sides of the backrest pad 1. The upper limb training mechanism is used to help patients exercise their upper limbs. The upper limb training mechanism is a shell, and its overall shape is similar to that of the human upper limb, and an opening is opened on the surface of the upper limb training mechanism to be inserted into the human upper limb; wherein the upper limb training mechanism comprises a shoulder fixing unit 4, a forearm fixing unit 5, and a lower arm fixing unit 6. The fixed unit 6, the forearm fixing unit 7, the hand movable unit 9, the two joint connection structures 5 and the wrist connection structure 8, the two joint connection structures 5 specifically include a shoulder joint connection structure 5 and an elbow joint connection structure 5, wherein the shoulder joint connection structure 5 is used to connect the shoulder fixing unit 4 and the upper arm fixing unit 6, the elbow joint connection structure 5 is used to connect the upper arm fixing unit 6 and the forearm fixing unit 7, and the wrist connection structure 8 is used to connect the forearm fixing unit 7 and the hand movable unit 9, which can effectively realize the all-round activity training of the shoulder joint, elbow joint and wrist joint, thereby meeting the rehabilitation needs of different parts of the upper limbs of stroke patients and improving the rehabilitation effect.
[0047] Preferably, in this embodiment, a movable connection structure is installed between the shoulder fixing unit 4 and the back cushion 1, and the movable connection structure is used to assist the patient in exercising the shoulder; wherein the movable connection structure includes a micro motor 12, an eccentric rotating wheel 11 and an electric telescopic rod 13; the fixed end of the micro motor 12 is fixedly connected to the back cushion 1, the output end of the micro motor 12 is fixedly connected to the eccentric rotating wheel, and the output end of the micro motor 12 does not coincide with the geometric center of the eccentric rotating wheel 11, thereby realizing the eccentric rotation of the eccentric rotating wheel 11, so that the shoulder fixing unit 4 can be driven to rotate by the micro motor 12 to simulate the action of massaging the patient's shoulder, the electric telescopic rod 13 is fixedly connected to the eccentric rotating wheel 11, and the other end of the electric telescopic rod 13 is hinged to the shoulder fixing unit 4, and the rotation amplitude of the shoulder fixing unit 4 can be changed by controlling the length of the electric telescopic rod 13, thereby effectively controlling the action strength of simulating massaging the patient's shoulder.
[0048] Preferably, the joint connection structure 5 of this embodiment includes an electric telescopic rod 14, a rack column 15, an arcuate rack plate 16 and a joint connecting rod 17; the fixed end of the electric telescopic rod 14 is fixedly connected to the upper limb exercise mechanism (in the shoulder joint connection structure 5 connecting the shoulder fixing unit 4 and the upper arm fixing unit 6, the fixed end of the electric telescopic rod 14 is connected to the shoulder fixing unit 4, and in the elbow joint connection structure 5 connecting the upper arm fixing unit 6 and the forearm fixing unit 7, the fixed end of the electric telescopic rod 14 is connected to the upper arm fixing unit 6), the telescopic end of the electric telescopic rod 14 is fixedly connected to the rack column 15, the arcuate rack plate 16 is meshed with the rack column 15, and the end of the arcuate rack plate 16 away from the rack column 15 is fixedly connected to the joint connecting rod 17. By controlling the length of the electric telescopic rod 14, the arcuate rack plate 16 can be driven to rotate, thereby driving the joint connecting rod 17 to swing, and the swing of the joint connecting rod 17 drives the upper and lower arm fixing units 7 to swing, which is used to simulate the patient's upper and lower arm flexion and extension training movements.
[0049] Preferably, in this embodiment, the upper limb exercise mechanism is also provided with an arc-shaped groove 18 (in the shoulder joint connection structure 5 connecting the shoulder fixing unit 4 and the upper arm fixing unit 6, the arc-shaped groove 18 is arranged on the end of the upper arm fixing unit 6 close to the shoulder fixing unit 4, and in the elbow joint connection structure 5 connecting the upper arm fixing unit 6 and the forearm fixing unit 7, the arc-shaped groove 18 is arranged on the end of the forearm fixing unit 7 close to the upper arm fixing unit 6), and a slider 19 is provided at the end of the joint connecting rod 17 away from the arc-shaped rack plate 16, and the slider 19 is located in the arc-shaped groove 18 and slides, so that the upper and lower arms can rotate relative to each other, thereby completing the training action of simulating the rotation of the upper and lower arms of the patient.
[0050] Preferably, the hand movement unit 9 of this embodiment includes a finger grip ball 25, a slider 26 and a coil spring 28; the finger grip ball 25 is provided with five slide grooves 27 corresponding to the finger positions, the slider 26 is located in the slide groove 27, and the two ends of the coil spring 28 are respectively connected to the finger grip ball 25 and the slider 26. The patient's fingers act on the slider 26, which can simulate the patient's grasping movements in daily life. At the same time, the coil spring 28 has a reaction force on the slider 26, so that the patient can accurately feel his or her grasping strength, thereby better helping the patient to exercise the grasping ability of his or her fingers.
[0051] Preferably, the wrist connection structure 8 of this embodiment includes an electric telescopic rod three 21 and a movable rod 22. The fixed end of the electric telescopic rod three 21 is fixedly connected to the upper limb exercise mechanism, the telescopic end of the electric telescopic rod three 21 is connected to the movable rod 22, and the end of the movable rod 22 away from the electric telescopic rod three 21 is connected to the finger grip ball 25, so that the finger grip ball 25 can be driven to rotate by controlling the length of the electric telescopic rod three 21, which is used to simulate the patient's wrist rotation movement and help the patient to train wrist activities.
[0052] Preferably, in this embodiment, an eccentric rotating wheel 23, a rotating shaft 24 and five steel wires 29 are also provided in the finger grip ball 25; one end of the five steel wires 29 are connected to the eccentric rotating wheel 23, one end of the five steel wires 29 away from the eccentric rotating wheel 23 is connected to the slider 26, and one end of the movable rod 22 away from the electric telescopic rod 3 21 is connected to the eccentric rotating wheel, so that when the length of the electric telescopic rod 3 21 is controlled, the eccentric rotating wheel 23 can be driven to rotate eccentrically, and at the same time, the slider 26 is driven by the steel wire 29 to slide up and down along the slide groove 27, so as to actively assist the patient's fingers to grasp, and further exercise the grasping ability of the patient's fingers.
[0053] Preferably, the upper limb exercise mechanism is internally provided with an airbag 20 that matches it. The airbag 20 can fix the upper limbs of patients of different body shapes by being inflated, and is adaptable. At the same time, the airbag 20 can disperse the pressure on the patient's surface, thereby protecting the patient's upper limbs while enhancing the patient's comfort and improving the patient's compliance with rehabilitation training. A plurality of rubber protrusions are also provided on the surface of the airbag 20. During the training process, the patient and the rubber protrusions generate relative friction and compression, so that the rubber protrusions can massage the patient's upper limbs, thereby better helping the patient's upper limbs to rehabilitate.
[0054] Preferably, in this embodiment, a seat cushion 10 is installed at the bottom of the back cushion 1 by means of a buckle. The seat cushion 10 can be used conveniently when the patient maintains a sitting position. At the same time, the seat cushion 10 is in the form of a latex cushion or an air cushion, which can increase the patient's usage experience. The connection between the seat cushion 10 and the back cushion 1 can further enhance the overall stability of the upper limb training device during use, thereby further improving the efficiency of rehabilitation training.
[0055] Preferably, the upper limb training device is further provided with a PLC controller 31 and an electric air pump 32, and a sensor 30 is provided on the surface of the airbag 20. The PLC controller 31 is electrically connected to the electric air pump 32, the sensor 30, the micro motor 12, the electric telescopic rod 13, the electric telescopic rod 2 14 and the electric telescopic rod 3 21. The current pressure on the surface of the patient's upper limb can be obtained through the sensor 30, and then the PLC controller 31 can automatically control the electric air pump 32 to inflate the airbag 20, so as to ensure that the patient's upper limb is always within a comfortable pressure range wrapped by the airbag 20, and then the PLC controller 31 can control the operation of the corresponding electrical components within a precise range, thereby accurately helping the patient to perform upper limb rehabilitation training.
[0056] Preferably, the intelligent control system of this embodiment includes a voice acquisition module 33, a data processing module 34, an automatic control module 35, an intelligent analysis module and a voice broadcast module 37; the voice acquisition module 33 is used to collect the patient's voice signal, and at the same time convert the voice signal into an electrical signal and transmit it to the data processing module 34; the data processing module 34 receives the electrical signal in the voice acquisition module 33 and performs signal filtering and format conversion to obtain an accurate digital signal and transmit it to the automatic control module 35; the automatic control module 35 receives the digital signal in the data processing module 34 and converts it into a control instruction to automatically control the electrical components; the intelligent analysis module receives the digital signal in the data processing module 34 and analyzes it, and can generate voice instructions to guide the patient's exercise according to the patient's usual historical training data, current training time and training status, and transmit them to the voice playback module; the voice playback module receives the voice instructions of the intelligent analysis module and converts them into voice signals for broadcasting, so as to better guide and help the patient to perform upper limb rehabilitation training.
[0057] Working principle: When using the upper limb training device, choose whether to use the seat cushion 10 according to the patient's usage. When the patient needs to go out for rehabilitation training, the seat cushion 10 will be removed. Otherwise, the seat cushion 10 will be installed and used in conjunction with the back cushion 1 through buckles, and then the shoulder elastic straps 2 and the waist elastic straps 3 will be fixed to the patient. Then the patient's upper limbs are placed in the upper limb training structure, and the airbags 20 are inflated to wrap and fix the patient's upper limbs. Then, through voice commands, the corresponding electrical components in the upper limb training device can be controlled to assist in training the patient's upper limbs. At the same time, the intelligent control system also combines the patient's usual historical training data, current training time and training status, analyzes and generates voice commands to guide the patient's exercise, and then helps the patient control the intensity of the training. While meeting the patient's full-range upper limb activity training, it can also automatically adjust the training intensity, speed and difficulty based on individual differences such as the patient's condition, muscle strength, and motor skills, so as to maximize the rehabilitation training effect.
[0058] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by the patent law.
Claims
1. An upper limb training device for stroke rehabilitation, characterized by: It comprises a backrest cushion (1), and upper limb exercise mechanisms are symmetrically arranged on both sides of the backrest cushion (1), and the upper limb exercise mechanisms are used to help patients perform upper limb exercises; The upper limb exercise mechanism comprises a shoulder fixing unit (4), an upper arm fixing unit (6), a lower arm fixing unit (7), a hand movable unit (9), two joint connection structures (5) and a wrist connection structure (8); among the two joint connection structures (5), one joint connection structure (5) is used to connect the shoulder fixing unit (4) and the upper arm fixing unit (6), the other joint connection structure (5) is used to connect the upper arm fixing unit (6) and the lower arm fixing unit (7), and the wrist connection structure (8) is used to connect the lower arm fixing unit (7) and the hand movable unit (9).
2. The upper limb training device for stroke rehabilitation according to claim 1, characterized in that: A movable connection structure is provided between the shoulder fixing unit (4) and the back cushion (1), and the movable connection structure is used to assist the patient in exercising the shoulder; the movable connection structure comprises a micro motor (12), an eccentric rotating wheel (11) and an electric telescopic rod (13); the fixed end of the micro motor (12) is fixedly connected to the back cushion (1), the output end of the micro motor (12) is fixedly connected to the eccentric rotating wheel, and the output end of the micro motor (12) does not coincide with the geometric center of the eccentric rotating wheel (11), thereby realizing the eccentric rotation of the eccentric rotating wheel (11); the electric telescopic rod (13) is fixedly connected to the eccentric rotating wheel (11), and the other end of the electric telescopic rod (13) is hinged to the shoulder fixing unit (4).
3. The upper limb training device for stroke rehabilitation according to claim 1, characterized in that: The joint connection structure (5) comprises an electric telescopic rod (14), a rack column (15), an arc-shaped rack plate (16) and a joint connection rod (17); the fixed end of the electric telescopic rod (14) is fixedly connected to the upper limb exercise mechanism, the telescopic end of the electric telescopic rod (14) is fixedly connected to the rack column (15), the arc-shaped rack plate (16) is meshed with the rack column (15), and the end of the arc-shaped rack plate (16) away from the rack column (15) is fixedly connected to the joint connection rod (17).
4. The upper limb training device for stroke rehabilitation according to claim 3, characterized in that: The upper limb exercise mechanism is also provided with an arc-shaped groove (18); the end of the joint connecting rod (17) away from the arc-shaped rack plate (16) is provided with a slider (19); the slider (19) is located in the arc-shaped groove (18).
5. The upper limb training device for stroke rehabilitation according to claim 1, characterized in that: The hand activity unit (9) comprises a finger grip ball (25), a second slider (26) and a coil spring (28); the finger grip ball (25) is provided with a slide groove (27) corresponding to the position of the finger, the second slider (26) is located in the slide groove (27), and the two ends of the coil spring (28) are respectively connected to the finger grip ball (25) and the second slider (26).
6. The upper limb training device for stroke rehabilitation according to claim 5, characterized in that: The wrist connection structure (8) comprises an electric telescopic rod three (21) and a movable rod (22), wherein the fixed end of the electric telescopic rod three (21) is fixedly connected to the upper limb exercise mechanism, the telescopic end of the electric telescopic rod three (21) is connected to the movable rod (22), and the end of the movable rod (22) away from the electric telescopic rod three (21) is connected to the finger grip ball (25).
7. The upper limb training device for stroke rehabilitation according to claim 6, characterized in that: The finger grip ball (25) is also provided with an eccentric rotating wheel 2 (23), a rotating shaft (24) and a plurality of steel wires (29); one end of the plurality of steel wires (29) is connected to the eccentric rotating wheel 2 (23), one end of the plurality of steel wires (29) away from the eccentric rotating wheel 2 (23) is connected to the sliding block 2 (26), and one end of the movable rod (22) away from the electric telescopic rod 3 (21) is connected to the eccentric rotating wheel.
8. The upper limb training device for stroke rehabilitation according to claim 1, characterized in that: An air bag (20) is arranged inside the upper limb exercise mechanism, and the air bag (20) is used to fix the upper limb of the patient. A plurality of rubber protrusions are also arranged on the surface of the air bag (20).
9. The upper limb training device for stroke rehabilitation according to claim 1, characterized in that: The upper limb training device is also provided with a PLC controller (31) and an electric air pump (32); a sensor (30) is provided on the surface of the air bag (20); the PLC controller (31) is electrically connected to the electric air pump (32), the sensor (30), the micro motor (12), the electric telescopic rod 1 (13), the electric telescopic rod 2 (14) and the electric telescopic rod 3 (21); and the PLC controller (31) is integrated with an intelligent control system.
10. The upper limb training device for stroke rehabilitation according to claim 9, characterized in that: The intelligent control system comprises a voice collection module (33), a data processing module (34), an automatic control module (35), an intelligent analysis module and a voice broadcast module (37); The voice acquisition module (33) is used to acquire the patient's voice signal, and convert the voice signal into an electrical signal and transmit it to the data processing module (34); the data processing module (34) receives the electrical signal in the voice acquisition module (33) and performs signal filtering and format conversion to obtain an accurate digital signal and transmit it to the automatic control module (35); the automatic control module (35) receives the digital signal in the data processing module (34) and converts it into a control instruction to automatically control the electrical element; the intelligent analysis module receives the digital signal in the data processing module (34) and analyzes it, generates a voice instruction to guide the patient to exercise, and transmits it to the voice playback module; the voice playback module receives the voice instruction of the intelligent analysis module and converts it into a voice signal for broadcasting.