Elbow and wrist joint rehabilitation training device and rehabilitation training method

Abstract

The invention relates to the technical field of rehabilitation instruments, and discloses an elbow and wrist joint rehabilitation training device, which comprises a central control seat, which is integrally provided with a storage battery, a controller, a central control screen, a control button area and an emergency reset button and is used as a control and power supply center of the device; the four transmission shafts are symmetrically arranged on the two sides of the central control seat in pairs, and each group forms an independently-controlled movable joint; a high-precision servo motor and a double-encoder system are combined, the joint movement angle and movement track are controlled in real time, the error is controlled within + / -1 degree, natural joint movement is simulated, secondary damage is avoided, the thin film pressure sensor and the inclined photoelectric sensor monitor the limb state in real time, the resistance, angle and speed are dynamically adjusted, and the stability of the system is improved. And the personalized adaptation of the training intensity is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation equipment, and in particular to an elbow and wrist joint rehabilitation trainer and a rehabilitation training method. Background Art

[0002] Joint dysfunction is a common problem for patients following orthopedic surgery, sports injuries, or neurological conditions such as stroke. Rehabilitation requires scientific, systematic training to gradually restore joint range of motion, muscle strength, and coordination. Traditional rehabilitation therapy relies on manual, therapist-assisted training (such as joint mobilization), which is subject to low efficiency, lack of standardization, and high labor costs. With the advancement of medical technology, mechanical rehabilitation equipment has become increasingly popular. However, early devices had limited functionality and lacked intelligent interaction, making them difficult to meet personalized rehabilitation needs.

[0003] Limitations of the use of elbow and wrist rehabilitation equipment: Elbow rehabilitation trainer: Functional limitations: Traditional equipment mostly uses a lever or spring structure, and controls the training intensity by adjusting the counterweight or mechanical limit. It can only achieve one-way flexion and extension movement (such as 0°-120°), and cannot dynamically adapt to the patient's real-time status; Lack of interaction: Relying on manual adjustment of parameters (such as limit screws to fix the angle), patients cannot adjust the training mode independently, and lack real-time data feedback; Scenario limitations: The equipment is large and only suitable for hospital rehabilitation departments, and it is difficult to meet the needs of family or community rehabilitation. Wrist rehabilitation trainer: Single training mode: Most devices focus on wrist flexion and extension or rotation training, and cannot coordinate with elbow joint movements, resulting in insufficient overall coordination training of the upper limb; Inconvenient fixation: Using straps or buckles to fix the wrist, it is difficult for patients to operate by themselves, and it is easy to cause local compression or slippage; Lack of versatility: The wrist and elbow devices are designed independently and need to be purchased and installed separately, which is costly and takes up a lot of space.

[0004] Existing elbow and wrist training devices operate independently, requiring patients to switch devices to complete multi-joint rehabilitation, resulting in low training efficiency and poor continuity. Hospital equipment is bulky, while home devices have simplified functionality, making it difficult to meet the differentiated needs of multiple scenarios (such as the early postoperative immobilization period and the mid-term muscle strength recovery period). Traditional fixation methods (such as straps) cannot achieve rapid self-locking / unlocking, making it difficult for patients to operate independently. A new generation of rehabilitation trainers must break through traditional design and address core issues such as poor device versatility, low efficiency, and insufficient patient compliance through multi-joint collaborative control, intelligent sensor interaction, and modular scenario adaptation, thereby promoting efficient and personalized rehabilitation treatment. Summary of the Invention

[0005] (1) Technical problems solved In response to the shortcomings of the existing technology, the present invention provides an elbow and wrist joint rehabilitation trainer and rehabilitation training method, which have the advantages of high versatility, intelligent interaction and multi-scenario adaptation.

[0006] (2) Technical solution To achieve the above-mentioned goals of high versatility, intelligent interaction, and multi-scenario adaptation, the present invention provides the following technical solutions: an elbow and wrist joint rehabilitation trainer, comprising: The central control seat is integrated with the battery, controller, central control screen, control button area and emergency reset button, serving as the control and power supply center of the device; There are four transmission shafts, which are symmetrically arranged in groups of two on both sides of the center console, with each group forming an independently controlled movable joint; The adaptive induction fixation frame is detachably connected to the end of each transmission shaft through a quick-release assembly. Each set includes two fixation frames, each used to fix adjacent limb parts of the patient to form a rehabilitation training structure for the elbow or wrist joint; An angle adjustment member is provided in the center console, corresponds to each of the transmission shafts, and is used to independently control the angle of each transmission shaft; A lifting support member is symmetrically arranged at the lower end of the central control seat to adjust the height of the device and provide stable support for the central control seat; Among them, the two sets of active joints operate independently, supporting single-person unilateral, single-person bilateral or double-person same-side training, and the intensity parameters are independently adjusted.

[0007] According to the above solution, a central control cavity and a symmetrically arranged transmission cavity are provided in the central control seat, and the battery and controller are fixed in the central control cavity; The transmission shaft is movably mounted on the side wall of the transmission cavity through a bearing; The central control screen is embedded in the fitting area at the upper end of the transmission cavity through a movable support member; The control button area is symmetrically distributed on the front and rear sides of the fitting area; An inspection port with an inspection cover is provided at the end of the transmission cavity, the emergency reset button is provided in the center of the inspection cover, and a sealing gasket is provided between the inspection cover and the central control seat.

[0008] According to the above solution, the angle adjustment member includes: A servo motor is fixedly arranged in the transmission cavity, and an output end thereof is integrated with a main encoder; A driving gear is fixed to the output end of the servo motor; A transmission gear, fixedly sleeved on the transmission shaft and meshing with the driving gear; A redundant encoder is integrated on the transmission shaft and is used to verify the data of the main encoder.

[0009] According to the above solution, the adaptive induction fixing frame includes: A lightweight C-shaped frame is hollowed out, with the opening facing away from the center console; A sponge pad, detachably arranged in the C-shaped frame; A base, bolted to the upper end of the lightweight C-shaped frame, with multiple fixings at the lower end; The detection sensor group includes uniformly distributed film pressure sensors and inclined photoelectric sensors symmetrically arranged at the opening.

[0010] According to the above solution, the quick disassembly component includes: A connector, fixed to the side wall of the lightweight C-shaped frame, having a square cross-section; A connecting groove is provided at the end of the transmission shaft and is used to accommodate the connecting head; An active cavity is provided on a side wall of the connecting groove; a movable plate, movably disposed in the movable cavity; A movable rod, fixed to one end of the movable plate, with its end passing through the transmission shaft; A pull head, fixedly mounted on the exposed end of the movable rod, for manual operation; A telescopic spring is sleeved on the outside of the movable rod to provide elastic restoring force; A positioning pin is symmetrically fixed to one end of the movable plate close to the connecting groove; The positioning groove is symmetrically arranged on the side wall of the connector and is used to cooperate with the positioning pin for alignment and locking.

[0011] According to the above solution, the electrical connection between the connector and the connection slot includes: A neodymium iron boron magnetic ring is fixedly arranged on the contact surface between the connector and the connecting groove to provide a pre-positioning adsorption force; Spring pin contacts are evenly distributed at the end of the connector; A flexible circuit cable independently connects the spring pin contacts to the sensor and actuator of the adaptive sensing fixture; The magnetic conduction module is triggered by the NdFeB magnetic ring and automatically conducts the circuit signal when the connector is fully inserted.

[0012] According to the above solution, the multi-point fixing member includes: Electric telescopic rods, arranged in an array in a placement slot in the base; A silicone fixing head, fixedly mounted on the telescopic end of the electric telescopic rod; The second thin film pressure sensor is fixedly installed at the end of the silicone fixing head and is used to feed back the fixing force to the controller.

[0013] According to the above solution, the lifting support member includes: A fixing plate, fixed to the lower end of the center console by bolts; A manual telescopic rod, the top of which is fixed to the lower end of the fixed plate; A base, fixed to the bottom of the manual telescopic rod, with bolt holes arranged around its circumference; A suction cup is fixed in the middle of the bottom of the base. The suction cup is a vacuum adsorption type and is suitable for smooth countertops to enhance stability; The tightening knob is arranged on the side wall of the manual telescopic rod and is used to adjust the height of the manual telescopic rod and lock it.

[0014] According to the above solution, the movable support member includes: a telescopic support rod, symmetrically fixed in the engaging area; A movable connecting rod connecting the telescopic ends of the telescopic support rods; The movable connecting seat is fixed to the back of the central control screen and is movably connected to the movable connecting rod.

[0015] A rehabilitation training method for an elbow and wrist joint rehabilitation trainer comprises the following steps: S1, Mode selection: Select single-player training mode or double-player training mode through the central control screen; S2, limb fixation: The adaptive sensing fixation frame is fixed to the adjacent limb parts of the target joint, the elbow joint position is set to the upper arm and forearm, and the wrist joint position is set to the palm and forearm; S3, parameter setting: input training intensity, angle range and training duration; S4, start training: the controller drives the transmission shaft to reciprocate according to the set parameters to simulate joint flexion and extension or rotation; S5, dynamic adjustment: According to the feedback data of the thin film pressure sensor and the tilt photoelectric sensor, the movement resistance or angle is adjusted in real time; S6, data recording: save training data and generate rehabilitation progress report; Among them, in the two-person training mode, two patients perform antagonistic or collaborative training through the same-side active joints, and the training intensity of both parties is independently controlled.

[0016] (3) Beneficial effects Compared with the prior art, the present invention provides an elbow and wrist joint rehabilitation training device and rehabilitation training method, which have the following beneficial effects: 1. Intelligent and precise control: Combining high-precision servo motors and dual encoder systems, the system controls joint movement angles and motion trajectories in real time, with an error within ±1°, simulating natural joint movement to avoid secondary injuries. Thin-film pressure sensors and tilt-type photoelectric sensors monitor limb status in real time, dynamically adjusting resistance, angle, and speed to ensure personalized adaptation of training intensity. 2. Efficient and convenient user experience: The semi-open design combined with a tilted photoelectric sensor triggers the fixation process. After the patient's side is inserted, it automatically locks within 3 seconds, eliminating the need for traditional bandages. The button unlocks in 1 second, allowing single-person operation, saving 70% of preparation time. The movable support supports independent adjustment on both sides. In two-person mode, training parameters can be set separately, such as 10N·m resistance on the left and 15N·m on the right. The tilt angle can be adjusted within ±30° to meet the needs of different rehabilitation stages. 3. All-round safety assurance: Automatically limits joint motion angles (e.g., 0°-30° for postoperative patients) to prevent overstretching. The emergency reset button has a response time of <0.1 second. Once triggered, the servo motor immediately powers off and the drive shaft resets to a safe position. The tilted photoelectric sensors are arranged in two groups to effectively filter out ambient light interference and reduce detection blind spots. 4. Multi-scenario applicability: Supports quick switching between unilateral / bilateral and elbow / wrist joints (disassembly time < 2 minutes), adapting to scenarios such as hospitals, homes, and rehabilitation centers. Training data (such as daily activity and peak torque) is automatically generated into reports, and cloud synchronization is supported. Doctors can remotely adjust plans, improving rehabilitation efficiency by more than 30%; 5. Portability and Modular Design: A compact transmission structure and lightweight materials (such as a carbon fiber composite frame) enable rapid deployment in multiple scenarios, including hospitals, homes, and outdoor settings. A detachable drive shaft (disassembly time: <30 seconds) and adaptive mounting bracket allow for rapid switching between training modes (such as elbow flexion and extension, wrist rotation). Compatible with knee joint adapter modules, the system can meet lower limb rehabilitation needs by adjusting the support angle (0°-120°) and drive torque (0-50N·m). 6. Economy and maintainability: Modular components (such as drive shafts and fixing brackets) can be replaced independently, reducing maintenance costs by 50% and extending service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the first three-dimensional structure of the present invention; Figure 2 is a schematic diagram of a second three-dimensional structure of the present invention; Figure 3 is a schematic diagram of a third three-dimensional structure of the present invention; Figure 4 It is a schematic diagram of a first partial three-dimensional structure of the present invention; Figure 5 is a schematic diagram of a second partial three-dimensional structure of the present invention; Figure 6 is a schematic diagram of a third partial three-dimensional structure of the present invention; Figure 7 is a schematic diagram of a fourth partial three-dimensional structure of the present invention; Figure 8 is a schematic diagram of a fifth partial three-dimensional structure of the present invention; Figure 9 is a schematic diagram of a sixth partial three-dimensional structure of the present invention; Figure 10 is a schematic diagram of a seventh partial three-dimensional structure of the present invention; Figure 11 is a schematic diagram of an eighth partial three-dimensional structure of the present invention; Figure 12 For the present invention Figure 8 Schematic diagram of the local enlarged structure at A in the middle; In the figure: 1. Central control seat; 101. Battery; 102. Controller; 103. Central control screen; 104. Control button area; 105. Emergency reset button; 106. Central control chamber; 107. Transmission chamber; 108. Movable support; 1081. Telescopic support rod; 1082. Movable connecting rod; 1083. Movable connecting seat; 109. Fitting area; 110. Inspection cover; 111. Inspection port; 2. Transmission shaft; 3. Adaptive induction fixing frame; 301. Lightweight C-shaped frame; 302. Sponge pad; 303. Base; 304. Multi-point fixing; 3041. Electric telescopic rod; 3042. Silicone fixing head; 3043. Thin film pressure sensor 2; 305. Detection sensor group; 3 051. Thin film pressure sensor 1; 3052. Tilt photoelectric sensor; 4. Quick disassembly and assembly parts; 401. Connector; 402. Connecting groove; 403. Movable cavity; 404. Movable plate; 405. Movable rod; 406. Pull head; 407. Telescopic spring; 408. Locating pin; 409. Locating groove; 410. NdFeB magnetic ring; 411. Spring needle contact; 5. Angle adjustment part; 501. Servo motor; 502. Main encoder; 503. Driving gear; 504. Driven gear; 505. Redundant encoder; 6. Lifting support; 601. Fixing plate; 602. Manual telescopic rod; 603. Base; 604. Bolt hole; 605. Suction cup; 606. Tension knob. DETAILED DESCRIPTION

[0018] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0019] See also Figure 1-12 The present invention provides a technical solution: an elbow and wrist joint rehabilitation training device, comprising: The central control base 1 integrates a battery 101, a controller 102, a central control screen 103, a control button area 104, and an emergency reset button 105. As the control and power supply center of the device, the battery 101 provides continuous power to the device, supporting mobile use scenarios such as hospital rooms and homes, ensuring stable operation without an external power source. Battery life directly affects its usability. The controller 102 processes sensor data, executes motion control algorithms, and coordinates the collaborative operation of multiple components. The central control screen 103 serves as a human-computer interface, displaying training parameters, real-time feedback data, and rehabilitation progress reports, simplifying the operation process. It supports touch input and intuitively displays key indicators such as joint range of motion and pressure distribution, allowing medical staff or patients to adjust their plans independently. The control button area 104 serves as an auxiliary physical button operation, providing quick functions such as emergency pause and mode switching. It also serves as a redundant control for the central control screen 103, ensuring that basic operations can still be performed in the event of a screen failure, enhancing device reliability. The emergency reset button 105 acts as a hardware-level emergency brake, directly cutting off the power supply and triggering the mechanical brake. There are four transmission shafts 2, which are symmetrically arranged on both sides of the central control base 1 in groups of two. Each group forms an independently controlled active joint, which converts the rotational motion of the servo motor 501 into joint flexion and extension motion. The four-axis independent drive design supports synchronous or asynchronous training of bilateral joints; The adaptive induction fixing frame 3 is detachably connected to the end of each group of transmission shafts 2 through a quick-disassembly component 4. Each group includes two fixing frames 3, each used to fix adjacent limb parts of the patient to form a rehabilitation training structure for the elbow joint or wrist joint; The semi-open design of the Adaptive Sensing Fixation Frame 3 allows patients to easily insert their arm or wrist from the side without complicated manipulation or posture adjustments, saving time and improving training efficiency. Patients also avoid the need for traditional bandages or other fixation devices, reducing material consumption, cleaning issues, and potential discomfort. When the patient's hand is placed in the fixation frame, the tilted photoelectric sensor 3052 immediately detects and triggers the fixation process, eliminating manual steps and reducing the possibility of error. The fixation frame automatically adjusts to the shape and size of the patient's limb, ensuring a secure and comfortable fixation and avoiding the discomfort or pressure points associated with traditional fixation methods. The tilted photoelectric sensor 3052 ensures accurate triggering of the fixation process, eliminating training risks associated with improper fixation. Patients can secure and release the fixation themselves with a single button press, enhancing training autonomy and convenience. This makes it particularly suitable for home rehabilitation or self-training. The Adaptive Sensing Fixation Frame 3 is compatible with the optional knee adapter module, differing only in specifications but operating in the same principle. By adjusting the support angle (0°-120°) and drive torque (0-50N·m), it meets all lower limb rehabilitation needs. An angle adjustment member 5 is provided in the central control seat 1 and corresponds to each of the transmission shafts 2 one by one, and is used to independently control the angle of each transmission shaft 2; The lifting support member 6 is symmetrically arranged at the lower end of the central control seat 1 to adjust the height of the central control seat 1 and provide stable support; Among them, the two sets of active joints operate independently, supporting single-person unilateral, single-person bilateral or double-person same-side training, and the intensity parameters are independently adjusted.

[0020] Specifically, the central control seat 1 is provided with a central control cavity 106 and a symmetrically arranged transmission cavity 107, and the battery 101 and the controller 102 are fixed in the central control cavity 106; The transmission shaft 2 is movably mounted on the side wall of the transmission cavity 107 through a bearing; The central control screen 103 is embedded in the embedding area 109 at the upper end of the transmission cavity 107 through a movable support 108; The control button area 104 is symmetrically distributed on the front and back sides of the fitting area 109; An inspection port 111 with an inspection cover 110 is provided at the end of the transmission cavity 107 . The emergency reset button 105 is provided in the center of the inspection cover 110 , and a sealing gasket is provided between the inspection cover 110 and the central control seat 1 .

[0021] Specifically, the angle adjustment member 5 includes: The servo motor 501 is fixedly mounted in the transmission cavity 107 and has an integrated main encoder 502 at its output end. It achieves precise angle adjustment through closed-loop control to meet the strength requirements of different rehabilitation stages. The driving gear 503 is fixed to the output end of the servo motor 501; The transmission gear 504 is fixedly sleeved on the transmission shaft 2 and meshes with the driving gear 503; The redundant encoder 505 is integrated on the transmission shaft 2 and is used to verify the data of the main encoder 502.

[0022] Specifically, the adaptive sensing fixing frame 3 includes: The lightweight C-shaped frame 301 is hollowed out, with the opening facing away from the center console 1. The lightweight hollow structure fits the body contours, reduces the burden on wearers, and improves comfort. The sponge pad 302 is detachably mounted in the lightweight C-shaped frame 301 to cushion contact pressure and prevent skin pressure sores. The detachable design facilitates cleaning and disinfection, and is suitable for different patients' hygiene needs. The base 303 is bolted to the upper end of the lightweight C-shaped frame 301 and has a multi-point fixing member 304 at the lower end; The detection sensor group 305 includes uniformly distributed thin film pressure sensors 3051 and tilted photoelectric sensors 3052 symmetrically arranged at the opening. The thin film pressure sensors 3051 monitor the contact pressure distribution between the limbs and the fixed frame to prevent local excessive compression. The tilted photoelectric sensors 3052 detect whether the limbs are slipping or positionally shifted, triggering an early warning to suspend training. There are two groups of tilted photoelectric sensors 3052, with the transmitting end and the receiving end tilted, so that the sensors can cover a larger area and better detect the insertion of the joints. The two groups of tilted photoelectric sensors cooperate with each other to form a three-dimensional detection network to ensure that the position changes of the limbs can be accurately captured at different angles.

[0023] Specifically, the quick disassembly component 4 includes: The connector 401 is fixed to the side wall of the C-shaped frame 301 and has a square cross section; A connecting groove 402 is provided at the end of the transmission shaft 2 and is used to accommodate the connecting head 401; The movable cavity 403 is formed on the side wall of the connecting groove 402; A movable plate 404 is movably disposed in the movable cavity 403; A movable rod 405 is fixed to one end of the movable plate 404, and its end passes through the transmission shaft 2; A pull head 406 is fixedly mounted on the exposed end of the movable rod 405 for manual operation; The telescopic spring 407 is sleeved on the outside of the movable rod 405 to provide elastic restoring force; A positioning pin 408 is symmetrically fixed to one end of the movable plate 404 close to the connecting groove; The positioning groove 409 is symmetrically provided on the side wall of the connector 401 and is used for aligning and locking with the positioning pin 408 .

[0024] Specifically, the electrical connection between the connector 401 and the connection slot 402 includes: The NdFeB magnetic ring 410 is fixedly arranged on the contact surface between the connector 401 and the connecting groove 402 to provide a pre-positioning adsorption force to ensure that the connector 401 is accurately adsorbed and avoid misalignment during insertion; The spring pin contacts 411 are evenly distributed at the end of the connector 401 to transmit sensor data and power supply signals, ensuring electrical connection stability; Flexible circuit cables, independently connecting the spring pin contacts 411 with the sensors and actuators of the adaptive sensing fixture 3; The magnetic conduction module is triggered by the NdFeB magnetic ring 410 and automatically conducts the circuit signal when the connector 401 is fully inserted.

[0025] Specifically, the multi-point fixing member 304 includes: The electric telescopic rods 3041 are arranged in an array in the placement slot 303 of the base, and automatically adjust the fixing force according to sensor feedback, dynamically adapting to changes in limb thickness (such as the stage of edema subsidence), avoiding the problem of traditional straps being too tight or too loose; A silicone fixing head 3042 is fixedly mounted on the telescopic end of the electric telescopic rod 3041; Thin film pressure sensor 2 3043, fixedly mounted at the end of the silicone fixing head 3042, for feeding back the fixing force to the controller 102 Specifically, the lifting support member 6 includes: The fixing plate 601 is fixed to the lower end of the central control seat 1 by bolts; A manually extendable rod 602 , the top of which is fixed to the lower end of the fixing plate 601 , adapted to accommodate patients of different heights (e.g., children and adults); The base 603 is fixed to the bottom of the manual telescopic rod 602 and has bolt holes 604 arranged around the circumference; A suction cup 605 is fixed in the middle of the bottom of the base 603. The suction cup 605 is a vacuum adsorption type and is suitable for smooth surfaces to enhance stability. The vacuum suction cup prevents the device from sliding and is particularly suitable for smooth surfaces such as treatment beds. The tension knob 606 is provided on the side wall of the manual telescopic rod 602 and is used to adjust the height of the manual telescopic rod 602 and lock it.

[0026] Specifically, the movable support member 108 includes: The telescopic support rod 1081 is symmetrically fixed in the fitting area 109; A movable connecting rod 1082 is connected to the telescopic end of the telescopic support rod 1081; The movable connecting seat 1083 is fixed to the back of the central control screen 103 and is movably connected to the movable connecting rod 1082.

[0027] The movable support 108 is designed as a bilateral independent support, allowing two patients to use the same device for training at the same time. The support on each side can be adjusted separately to adapt to the body shape and training needs of different patients. Each patient can independently adjust the height, inclination angle and support strength of the support according to their own comfort and rehabilitation needs to ensure personalized and accurate training.

[0028] A rehabilitation training method for an elbow and wrist joint rehabilitation trainer comprises the following steps: S1, mode selection: select single-player training mode or double-player training mode through the central control screen 103; S2, limb fixation: fix the adaptive sensing fixation frame 3 to the adjacent limb parts of the target joint, with the elbow joint position set to the upper arm and forearm, and the wrist joint position set to the palm and forearm; S3, parameter setting: input training intensity, angle range and training duration; S4, start training: the controller 102 drives the transmission shaft 2 to reciprocate according to the set parameters to simulate joint flexion and extension or rotation; S5, dynamic adjustment: according to the feedback data of the film pressure sensor 3051 and the tilt photoelectric sensor 3052, the movement resistance or angle is adjusted in real time; S6, data recording: save training data and generate rehabilitation progress report; Among them, in the two-person training mode, two patients perform antagonistic or collaborative training through the same-side active joints, and the training intensity of both parties is independently controlled.

[0029] Working Principle: This device achieves automation and personalization of joint rehabilitation training through a closed-loop system featuring intelligent control, precise drive, dynamic feedback, and safety protection. Through modular integration and intelligent collaborative control, it breaks through the functional fragmentation bottleneck of traditional joint rehabilitation equipment and enables universal training of the upper limb elbow and wrist and lower limb knee joints for the first time. Its compact size and multi-scenario adaptability reduce medical resource investment and provide patients with efficient, safe, and convenient full-cycle rehabilitation support. Its core working principle can be summarized in the following stages: Mode selection and parameter setting: The patient or medical staff selects a training mode (single person bilateral, single person unilateral, two people same side) through the central control screen 103 and inputs parameters such as training intensity, angle range, and training duration. The parameter settings are as follows: Training intensity: divided into three levels: low, medium and high, corresponding to different resistance and movement speeds.

[0030] Angle range: Set the range of joint motion according to the patient's specific situation (such as elbow joint 0° to 90°, wrist joint 0° to 45°).

[0031] Training duration: Set the duration of each training session (e.g. 5 minutes, 10 minutes, 15 minutes).

[0032] Exercise frequency: Select the speed of training (such as slow, medium, fast).

[0033] Fixation frame installation and limb fixation: According to training requirements, the adaptive sensing bracket 3 is installed at the end of the transmission shaft 2. The adaptive sensing bracket 3 is connected to the transmission shaft 2 through the quick disassembly part 4 to ensure stability. The limbs (such as the upper arm and forearm or the palm and forearm) are fixed on the adaptive sensing bracket 3 to ensure the stability of the limbs during training.

[0034] Transmission shaft drive and angle adjustment: The servo motor 501 drives the transmission shaft 2 to rotate, simulating joint flexion and extension or rotation. The angle adjustment member 5 uses the encoder to provide real-time feedback on the angle of the transmission shaft 2 to ensure accurate movement. The dual encoder system (main encoder 502 and redundant encoder 505) verifies data to prevent control deviation.

[0035] Dynamic feedback and adaptive adjustment: The thin film pressure sensor monitors the contact pressure between the limb and the fixed frame 3 to prevent local compression. The tilt photoelectric sensor 3052 detects limb slippage or position deviation and triggers the safety mechanism. The controller 102 dynamically adjusts parameters such as motion resistance and angle range based on feedback data to optimize the training effect.

[0036] Independent control on both sides: The drive shafts 2 on both sides are independently controlled to support different training modes (single-person bilateral, single-person unilateral, two-person same-side). The drive shafts 2 on both sides are independently controlled, allowing patients to perform bilateral training with different intensities (such as low-intensity training on one side and medium-intensity training on the other side). When unilateral rehabilitation is required, only one side of the training group needs to be installed, saving cost and space. In the two-person mode, two patients can perform antagonistic or collaborative training through the same-side drive shaft, and each can set a different training intensity.

[0037] Lift support adjustment: The height of the device can be adjusted by lifting the support member 6 to meet the height requirements of different patients. The suction cup 605 provides stable support to prevent the device from sliding on a smooth table.

[0038] Safety protection and emergency response: During training, if the patient feels uncomfortable or the equipment malfunctions, press the emergency reset button 105 to stop training immediately to ensure safety. The emergency reset button 105 will immediately cut off the power supply and trigger the mechanical brake under abnormal circumstances to ensure patient safety. Multiple sensors monitor in real time and automatically adjust or pause training under abnormal circumstances. At the same time, the equipment will automatically limit the range of motion of the joints according to the set angle range and sensor feedback to prevent overstretching or excessive exercise.

[0039] Data logging and report generation: Training data (such as joint range of motion and training intensity) are recorded in real time, and rehabilitation progress reports are automatically generated to facilitate doctors to evaluate the treatment effect and adjust the training plan.

[0040] Example 1: Application in hospital rehabilitation department Scenario description: A stroke patient undergoes elbow rehabilitation training in the hospital's rehabilitation department.

[0041] Steps: The doctor selects the single-player training mode through the central control screen and sets the training intensity, angle range (such as 0° to 90°) and training duration.

[0042] The patient fixed his upper arm and forearm on the adaptive induction fixation frame to ensure the stability of his limbs.

[0043] When the equipment is started, the servo motor drives the drive shaft to perform elbow flexion and extension movements, simulating natural joint movements.

[0044] The thin film pressure sensor monitors the contact pressure of the limbs in real time to prevent local compression; the tilted photoelectric sensor detects the position of the limbs to ensure training safety.

[0045] During the training process, the patient can adjust the training intensity or pause the training through the control button area according to his or her own feelings.

[0046] After the training, the device automatically generates a rehabilitation progress report to help doctors assess the recovery status.

[0047] Example 2: Application in home rehabilitation Scenario description: The patient performs wrist rehabilitation training at home.

[0048] Steps: The patient selects the single-player training mode through the central control screen, sets the training intensity to medium, the angle range to 0° to 45°, and the training time to 15 minutes.

[0049] Secure your hands and forearms to the adaptive sensor mount for a comfortable and secure fit.

[0050] After the device is started, the drive shaft drives the wrist joint to rotate, simulating the natural movement of the wrist.

[0051] The dynamic feedback system automatically adjusts the clamping force based on the data from the film pressure sensor to ensure comfort.

[0052] During the training process, patients can view the training data (such as current angle and training time) in real time through the central control screen.

[0053] After the training, the device saves the data and prompts the patient for the next training time.

[0054] Example 3: Two-person collaborative training in a rehabilitation center Scenario description: Two patients are performing elbow joint synergy training in a rehabilitation center.

[0055] Steps: The rehabilitation therapist selects the two-person training mode through the central control screen and sets the angle range and training intensity of the drive shafts on both sides (such as low intensity for patients on the left and moderate intensity for patients on the right).

[0056] Both patients had their limbs fixed on bilateral adaptive induction frames.

[0057] After the equipment is started, the drive shafts on both sides synchronously drive the elbow joint to flex and extend, and the two patients complete the training movements in coordination.

[0058] The dynamic feedback system monitors the status of the limbs on both sides in real time to ensure training safety.

[0059] During the training process, the rehabilitation therapist can observe the training data of patients on both sides through the central control screen and adjust the parameters in time.

[0060] After the training, the device generates a collaborative training report to evaluate the recovery progress of the two patients.

[0061] Example 4: Application in postoperative rehabilitation Scenario description: After joint surgery, the patient undergoes early rehabilitation training in the rehabilitation department.

[0062] Steps: The doctor selects the single-person training mode through the central control screen, setting a lower training intensity and a smaller angle range (such as 0° to 30°).

[0063] The patient secures their limbs in an adaptive induction frame for comfort and stability.

[0064] After the device is started, the drive shaft slowly drives the joint to flex and extend to avoid overstretching.

[0065] The dynamic feedback system adjusts the movement range and speed in real time based on sensor data to ensure training safety.

[0066] During the training process, if the patient feels uncomfortable, he or she can stop the training immediately by pressing the emergency reset button.

[0067] After the training, the doctor will evaluate the patient's recovery based on the data recorded by the device and adjust the subsequent training plan.

[0068] Example 5: Application in sports injury rehabilitation Scenario description: An athlete performs rehabilitation training on their elbow and wrist joints after a sports injury.

[0069] Steps: The rehabilitation therapist selects the bilateral independent training mode through the central control screen and sets different training parameters for the elbow and wrist joints respectively.

[0070] The athlete fixes the upper arm and forearm on the elbow joint fixation frame and performs elbow flexion and extension training.

[0071] After the training, adjust the limb to the wrist joint fixation frame and perform wrist rotation training.

[0072] The dynamic feedback system monitors the athlete's limb status in real time to ensure training safety.

[0073] The training data is recorded and synchronized to the cloud, and the rehabilitation therapist can check the rehabilitation progress through a mobile phone or computer.

[0074] Based on the rehabilitation report, the rehabilitation therapist adjusts the training intensity and angle range to gradually restore the athlete's joint function.

[0075] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. An elbow and wrist joint rehabilitation training device, characterized in that: include: A central control seat (1) is integrated with a battery (101), a controller (102), a central control screen (103), a control button area (104) and an emergency reset button (105), serving as a control and power supply center for the device; There are four transmission shafts (2), which are symmetrically arranged in groups of two on both sides of the central control seat (1), with each group forming an independently controlled movable joint; An adaptive induction fixing frame (3) is detachably connected to the end of each set of transmission shafts (2) via a quick-disassembly component (4), and each set includes two fixing frames (3), each used to fix adjacent limb parts of the patient to form a rehabilitation training structure for the elbow joint or wrist joint; An angle adjustment member (5) is provided in the central control seat (1), corresponds to each of the transmission shafts (2) one by one, and is used to independently control the angle of each of the transmission shafts (2); A lifting support member (6) is symmetrically arranged at the lower end of the central control seat (1) to adjust the height of the central control seat (1) and provide stable support; Among them, the two sets of active joints operate independently, supporting single-person unilateral, single-person bilateral or double-person same-side training, and the intensity parameters are independently adjusted.

2. The elbow and wrist joint rehabilitation training device according to claim 1, characterized in that: The central control seat (1) is provided with a central control cavity (106) and a symmetrically arranged transmission cavity (107), and the battery (101) and the controller (102) are fixed in the central control cavity (106); The transmission shaft (2) is movably mounted on the side wall of the transmission cavity (107) via a bearing; The central control screen (103) is embedded in the embedding area (109) at the upper end of the transmission cavity (107) via a movable support (108); The control button area (104) is symmetrically distributed on the front and rear sides of the engaging area (109); An inspection port (111) with an inspection cover (110) is provided at the end of the transmission chamber (107), the emergency reset button (105) is provided at the center of the inspection cover (110), and a sealing gasket is provided between the inspection cover (110) and the central control seat (1).

3. The elbow and wrist joint rehabilitation training device according to claim 1, characterized in that: The angle adjustment member (5) comprises: A servo motor (501) is fixedly disposed in the transmission cavity (107), and an output end thereof is integrated with a main encoder (502); A driving gear (503) is fixed to the output end of the servo motor (501); A transmission gear (504) is fixedly sleeved on the transmission shaft (2) and meshes with the driving gear (503); A redundant encoder (505) is integrated on the transmission shaft (2) and is used to verify the data of the main encoder (502).

4. The elbow and wrist joint rehabilitation training device according to claim 1, characterized in that: The adaptive induction fixing frame (3) comprises: A lightweight C-shaped frame (301) is hollowed out, with the opening facing away from the central control seat (1); A sponge pad (302) is detachably disposed within the lightweight C-shaped frame (301); A base (303) is bolted to the upper end of the lightweight C-shaped frame (301), and a multi-point fixing member (304) is provided at the lower end; The detection sensor group (305) includes uniformly distributed thin film pressure sensors (3051) and inclined photoelectric sensors (3052) symmetrically arranged at the opening.

5. The elbow and wrist joint rehabilitation training device according to claim 4, characterized in that: The quick disassembly component (4) comprises: A connector (401) is fixed to the side wall of the lightweight C-shaped frame (301) and has a square cross-section; A connecting groove (402) is provided at the end of the transmission shaft (2) and is used to accommodate the connecting head (401); An active cavity (403) is provided on a side wall of the connecting groove (402); A movable plate (404) movably disposed in the movable cavity (403); A movable rod (405) is fixed to one end of the movable plate (404), and the end thereof passes through the transmission shaft (2); A pull head (406) is fixedly mounted on the exposed end of the movable rod (405) for manual operation; A telescopic spring (407) is sleeved on the outside of the movable rod (405) to provide an elastic reset force; A positioning pin (408) is symmetrically fixed to one end of the movable plate (404) close to the connecting groove (402); The positioning groove (409) is symmetrically arranged on the side wall of the connector (401) and is used to align and lock with the positioning pin (408).

6. The elbow and wrist joint rehabilitation training device according to claim 5, characterized in that: The electrical connection between the connector (401) and the connection slot (402) includes: A neodymium iron boron magnetic ring (410) is fixedly arranged on the contact surface between the connector (401) and the connecting groove (402) and is used to provide a pre-positioning adsorption force; Spring pin contacts (411) are evenly distributed at the end of the connector (401); A flexible circuit cable independently connects the spring pin contact (411) and the sensor and actuator of the adaptive sensing fixture (3); The magnetic conduction module is triggered by the NdFeB magnetic ring (410) and automatically conducts the circuit signal when the connector (401) is fully inserted.

7. The elbow and wrist joint rehabilitation training device according to claim 4, characterized in that: The multi-point fixing member (304) comprises: Electric telescopic rods (3041) are arranged in an array in a placement slot in the base (303); A silicone fixing head (3042) is fixedly mounted on the telescopic end of the electric telescopic rod (3041); A second thin film pressure sensor (3043) is fixedly mounted on the end of the silicone fixing head (3042) and is used to feed back the fixing force to the controller (102).

8. The elbow and wrist joint rehabilitation training device according to claim 1, characterized in that: The lifting support member (6) comprises: A fixing plate (601) is fixed to the lower end of the central control seat (1) by means of bolts; A manual telescopic rod (602), the top of which is fixed to the lower end of the fixed plate (601); A base (603) is fixed to the bottom of the manual telescopic rod (602) and is provided with bolt holes (604) around its circumference; A suction cup (605) is fixed in the middle of the bottom of the base (603), and the suction cup (605) is a vacuum adsorption type, suitable for smooth table surfaces to enhance stability; A tightening knob (606) is provided on the side wall of the manual telescopic rod (602) and is used to adjust the height of the manual telescopic rod (602) and to lock it.

9. The elbow and wrist joint rehabilitation training device according to claim 2, characterized in that: The movable support member (108) comprises: A telescopic support rod (1081) is symmetrically fixed in the engaging area (109); A movable connecting rod (1082) connected to the telescopic end of the telescopic support rod (1081); A movable connecting seat (1083) is fixed to the back of the central control screen (103) and is movably connected to the movable connecting rod (1082).

10. A rehabilitation training method for an elbow and wrist joint rehabilitation trainer according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1, mode selection: select single-player training mode or double-player training mode through the central control screen (103); S2, limb fixation: fix the adaptive sensing fixation frame (3) to the adjacent limb parts of the target joint, with the elbow joint position set to the upper arm and forearm, and the wrist joint position set to the palm and forearm; S3, parameter setting: input training intensity, angle range and training duration; S4, start training: the controller (102) drives the transmission shaft (2) to perform reciprocating motion according to set parameters, simulating joint flexion and extension or rotation; S5, dynamic adjustment: adjusting the movement resistance or angle in real time according to the feedback data from the film pressure sensor (3051) and the tilt photoelectric sensor (3052); S6, data recording: save training data and generate rehabilitation progress report; Among them, in the two-person training mode, two patients perform antagonistic or collaborative training through the same-side active joints, and the training intensity of both parties is independently controlled.

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