Forearm muscle force balance training device and method coupling grabbing and wrist movement

Abstract

The invention belongs to the technical field of exercise rehabilitation instruments, and discloses a forearm muscle force balance training device and training method.The forearm muscle force balance training device comprises a first shell, and the first shell is provided with a split type holding rod structure; the pressure detection sensor is used for detecting the pressure of the hand holding structure; the second shell is in coupling connection with the first shell, the interior of the second shell communicates with the first shell, and a finger penetrates through the second shell to hold the split type holding rod structure; the third shell is fixedly connected with the second shell, the third shell is provided with a resistance adjusting device, and the resistance adjusting device is connected with the first shell through an elastic structure; the resistance adjusting device is driven, the elastic structure pulls the first shell to rotate, then the wrist is driven to move, and reverse resistance is applied to the wrist. Stability and persistence of forearm muscle groups are promoted by coupling grabbing and wrist training, extensor load is reasonably regulated and controlled in the training process, muscle activation intensity is reduced, and meanwhile the participation degree of the whole muscle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of sports rehabilitation equipment, and specifically to a forearm muscle strength balance training device that couples grasping and wrist movements. The device is suitable for preventing muscle strength imbalance problems such as tennis elbow caused by improper or excessive use of forearm muscles and restoring sports performance. Background Art

[0002] Traditional wrist training devices are mostly fitness equipment that lack targeted training for muscle imbalances. For example, common wrist trainers primarily focus on overall wrist strength training and are unable to accurately improve the strength imbalance between the agonist and antagonist muscles of the forearm. For example, the multifunctional wrist trainer (CN201310401010) is primarily used to train wrist strength, arm strength, and flexibility, while the passive wrist training device (CN202211524495) primarily trains wrist movements passively. Its single function is to provide only simple wrist strength training or exercise assistance, but it cannot strengthen the coordinated contraction ability of the flexor and extensor muscles.

[0003] Therefore, it is very necessary to design a device for strengthening training the coordinated contraction ability of the flexor and extensor muscles, which can not only achieve training effectiveness at lower strength states, but also meet the rehabilitation training needs of specific groups of people with problems such as tennis elbow patients or forearm pain caused by forearm muscle imbalance. Summary of the Invention

[0004] In order to solve the above technical problems, the purpose of the present invention is to provide a simple and portable forearm muscle strength balance training device, which improves the muscle strength imbalance problem of the forearm flexor and extensor muscle groups through a collaborative training mode of coupling grasping and wrist movements.

[0005] As a first aspect, the present invention provides a forearm muscle balance training device for coupling grasping and wrist movement, comprising:

[0006] The first housing includes a split grip structure and a pressure sensor that detects pressure applied by the hand gripping the structure. The second housing is coupled to the first housing and internally communicates with the first housing. The fingers pass through the second housing to grip the split grip structure. The first housing rotates relative to its coupling point with the second housing as the wrist moves.

[0007] The third shell is fixedly connected to the second shell. The third shell is provided with a resistance adjustment device, which is connected to the first shell through an elastic structure. When the resistance adjustment device is driven, the elastic structure pulls the first shell to rotate, thereby driving the wrist to move and applying reverse resistance to the wrist.

[0008] According to the present invention, further, the split grip structure includes a support rod and a motion rod arranged in parallel, and both ends of the support rod and the motion rod can be adjusted and fixed on the first shell; a first resistance spring is arranged between the support rod and the motion rod, and the extension direction of the first resistance spring is from the support rod to the motion rod, and by holding the support rod and the motion rod, the first resistance spring is squeezed to form resistance feedback; a pressure detection sensor is provided on the support rod to obtain the time domain characteristics of the grip force.

[0009] According to the present invention, further, the resistance adjustment device includes a servo, which is connected to a gear to transmit motion to the gear, and the gear is meshed with a rack, one end of the rack is fixedly connected to the first housing through a second resistance spring; the rack is meshed with the gear to convert the angular displacement of the servo into a linear displacement of the rack.

[0010] According to the present invention, further, two opposite side walls of the first shell are provided with slots, and the support rod and the movement rod pass through the slots and are fixed to the first shell.

[0011] According to the present invention, further, four spherical grooves are provided in the length direction of the slot to fix the support rod and the motion rod.

[0012] According to the present invention, further, the axial motion planes of the support rod and the motion rod are orthogonal to the coronal plane of the wrist joint, which effectively solves the mechanical interference between the gripping action and the wrist movement.

[0013] According to the present invention, further, a rechargeable main control module is provided in the third shell, and the main control module includes a battery, a main control chip and a signal transmitter; the signal transmitter is used to convert the electrical signal of the pressure detection sensor into pressure data and transmit it to the main control chip.

[0014] According to the present invention, further, a panel is provided on the surface of the third shell, on which a grip strength calibration button, a wrist strength calibration button, a training button and a training feedback interface are provided, and the user performs calibration and training actions through the panel.

[0015] In a second aspect, the present invention further provides a forearm muscle balance training method for coupling grasping and wrist movement, which uses the forearm muscle balance training device for coupling grasping and wrist movement to strengthen the coordinated contraction ability of the agonist and antagonist muscles by synchronously regulating the grasping force and the wrist force; the following formula is used for calculation:

[0016]

[0017] Where: CR GF CR is the contribution rate of grip to the total training load intensity; WF GF is the contribution rate of wrist force to the total training load intensity; real The gripping force detected by the gripping sensor in real time; GFmvc The maximum grip force of the user; WF real The resistance strength provided by the wrist resistance mechanism; WF mvc is the maximum force of the user's wrist flexion and extension; total load intensity: the combined force of grip and wrist, that is, the sum of the contribution rates of grip and wrist force, calculated as formula (2):

[0018] TE=CR GF +CR WF (2).

[0019] According to the present invention, further comprising the following steps,

[0020] Calibration: When using for the first time, the user needs to calibrate the user's maximum grip strength (GF mvcc ) and maximum wrist force (WF mvc );

[0021] 1) Grasp the support bar and exercise bar and hold for 3 seconds, the system will automatically record GF mvc , complete the measurement of maximum grip strength;

[0022] 2) Activate the servo and apply tension to the first housing through the gear rack meshing structure. The user maintains wrist flexion and extension to resist the tension. The system will automatically record WF mvc , complete the measurement of maximum wrist strength;

[0023] 3) The measurement data will be stored in the main control module for subsequent training;

[0024] 4) Training:

[0025] 4.1) Grasping begins, and the pressure sensor monitors the actual gripping force GF in real time real , based on GF mvvc Calibration value calculation real-time contribution rate CR GF , the interface will display the current stage’s grip strength target contribution rate;

[0026] 4.2) When CR GF When the target value of the current training phase is reached, the servo starts and the target contribution value CR is calculated according to step 4.1. GF Output resistance WF mvc ; The output impedance calculation formula is,

[0027] WF real =WF mvc ×CR WF (4).

[0028] Compared with the prior art, the beneficial effects of the present invention are as follows: the device of the present invention promotes the stability and durability of the forearm muscle group by coupling grip and wrist training, and the regulation of the extensor muscle load during training is more reasonable or reduces unnecessary muscle burden, while reducing the muscle activation intensity, and improving the overall muscle participation; at the same time, the device of the present invention sets a maximum force ratio, so that the device can effectively enhance the coordinated contraction of the forearm flexor and extensor muscle groups under a lower force state, which helps to achieve a more balanced and more efficient muscle training effect, thereby improving muscle strength balance. On the one hand, the present invention helps users who suffer from forearm muscle pain due to heavy reliance on hand activities to relieve symptoms, and on the other hand, the present invention can be used as a training device to reduce the risk of sports injuries in athletes and enhance sports performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1a A schematic diagram of palm flexion during use of the present invention;

[0030] Figure 1b Schematic diagram of palm dorsiflexion during use of the present invention;

[0031] Figure 2 It is a structural schematic diagram of the first perspective of the present invention;

[0032] Figure 3 It is a structural schematic diagram of the second viewing angle of the present invention;

[0033] Figure 4 1 is a schematic structural diagram of the third housing of the present invention from a first perspective (excluding the cover plate);

[0034] Figure 5 2 is a schematic structural diagram of the third housing of the present invention from a second viewing angle (excluding the cover plate);

[0035] Figure 6 is a schematic diagram of the interactive interface of the present invention;

[0036] Figure 7 It is a schematic diagram of the use process of the present invention;

[0037] Figure 8 This is a schematic diagram of the actual usage status of the present invention.

[0038] The accompanying drawings are numerals as follows:

[0039] 100-first shell, 200-second shell, 300-third shell, 1-support rod, 2-first resistance spring, 3-motion rod, 4-pressure detection sensor, 5-rotating shaft, 6-spherical adjustment knob, 7-limiting structure, 8-rack, 9-parent bolt, 10-second resistance spring, 11-cover, 12-training feedback interface, 13-training button, 14-charging port; 15-cushion pad; 16-wrist strength calibration button; 17-grip strength calibration button; 18-gear, 19-servo, 20-battery, 21-main control chip, 22-signal transmitter. DETAILED DESCRIPTION

[0040] The following is a further detailed description of the technical solutions proposed by the present invention in conjunction with the accompanying drawings and specific embodiments. The advantages and features of the present invention will become more apparent from the following description. It should be noted that the drawings are all in a very simplified form and are not to exact scale, and are only used to facilitate and clearly illustrate the embodiments of the present invention.

[0041] Example

[0042] The embodiment of the present application provides a forearm muscle balance training method for coupling grip and wrist movement, which strengthens the coordinated contraction ability of the agonist and antagonist muscles by synchronously regulating the contribution ratio (Contribution Ratio, CR) of grip force (GF) and wrist force (WF). The core parameters of the training method are as follows: Contribution Ratio (CR): The definition of the contribution ratio of grip and wrist force is shown in formula (1),

[0043]

[0044] Where: CR GF CR is the contribution rate of grip to the total training load intensity; WF GF is the contribution rate of wrist force to the total training load intensity; real The gripping force detected by the gripping sensor in real time; GF mvc The maximum grip force of the user; WF real The resistance strength provided by the wrist resistance mechanism; WF mvc The maximum force of the user's wrist flexion and extension.

[0045] Total Effort (TE): The combined force of grip and wrist, i.e., the sum of the contribution rates of grip and wrist force, is calculated as shown in formula (2):

[0046] TE=CR GF +CR WF (2).

[0047] This training device adopts a fully constrained forearm fixation design, which only retains a single degree of freedom movement of the wrist joint in the sagittal plane (palmar flexion / dorsiflexion). Figure 1a and Figure 1b Single degree of freedom can effectively avoid energy dissipation in multi-plane motion and meet the motion isolation requirements of rehabilitation training.

[0048] This device uses a four-stage resistance grading system with a total load intensity (TE) of 60%. See Table 1 for details.

[0049] Table 1 Resistance levels for forearm muscle imbalance training

[0050]

[0051] The device provides impedance for wrist flexion and detects grip force in real time. This structure allows users to focus on regulating and controlling their own grip force without having to pay too much attention to the contribution rate of wrist force, thereby reducing the difficulty of collaborative training.

[0052] The present invention includes a grip strength detection and resistance structure, an adjustable wrist resistance mechanism, and a training control and feedback interface; each subsystem is coordinated and controlled through a main control module.

[0053] See also Figures 2 to 3 The grip strength detection and resistance mechanism includes a first shell 100. The first shell 100 is a hollow structure. The first shell 100 integrates a pressure detection and resistance spring structure. A split grip structure is provided in the first shell 100. The support rod 1 and the parallel movement rod 3 form a double-rod structure, which is fixed to the first shell 100 by a spherical adjustment knob 6. A first resistance spring 2 is provided between the support rod 1 and the movement rod 3. The extension direction of the first resistance spring 2 is from the support rod 1 to the movement rod 3. In conjunction with the limiting structure 7, the support rod 1 and the movement rod 3 can always maintain linear motion in the same plane. Therefore, by holding the support rod 1 and the movement rod 3, the resistance spring 2 is squeezed to form resistance feedback. The axial motion planes of the support rod 1 and the movement rod 3 are orthogonal to the coronal plane of the wrist joint, effectively decoupling the mechanical interference between the gripping action and the wrist movement. A pressure detection sensor 4 is provided on the support rod 1 to obtain the time domain characteristics of the grip. The retaining structure 7 is a slotted opening on two opposing sidewalls of the first housing 100, with four spherical recesses arranged along its length to secure the dual-rod structure. By loosening and tightening the spherical adjustment knobs 6 at each end of the support rod 1, the distance between the support rod 1 and the rotating shaft 5 can be adjusted to accommodate different hand sizes.

[0054] The device further includes a second housing 200 coupled to the first housing 100. The second housing 200 is a hollow structure and communicates with the interior of the first housing 100. A cushion 15 is provided on the inner peripheral wall of the hollow structure of the second housing 200. The hand extends from the first housing 100 through the second housing 200, and the arm is positioned within the second housing 200. The fingers grip the support rod 1 and the motion rod 3, and the wrist joint node coincides with the axis of the rotating shaft 5. The arm contacts the cushion 15 within the second housing 200, not the inner peripheral wall of the second housing 200. This improves arm comfort and prevents direct contact with the second housing 200, which could cause pain and discomfort. The first shell 100 and the second shell 200 are rotatably connected via the rotating shaft 5. The first shell 100 rotates up and down relative to the rotating shaft 5 as the wrist moves. A third shell 300 is provided on the top surface of the second shell 200. A resistance adjustment device is installed in the third shell 300. The third shell 300 is detachably fixedly connected to a cover plate 11. When the cover plate 11 is opened, the resistance adjustment device can be viewed. Please read Figure 4 and Figure 5 The resistance adjustment device includes a servo 19, which, together with the gear 18 and rack 8 transmission system, forms the resistance adjustment device. Rack 8 is fixed by a threaded bolt 9 and a second resistance spring 10, the other end of which is fixedly connected to the first housing 100. Rack 8 meshes with servo 19 and gear 18, converting the angular displacement of servo 19 into linear displacement of rack 8. A mathematical model of spring deformation and output resistance is established using Hooke's law, as shown in Equation (3):

[0055]

[0056] Where k is the spring constant, θ is the servo angle, and r is the pitch radius of the gear. The control system precisely controls the servo angle via PWM signals, achieving continuous adjustment of the resistance force within a range of 50-200N.

[0057] The third housing 300 houses the main control module, which includes a charging port 14, a battery 20, a main control chip 21, and a signal transmitter 22. The charging port 14 is responsible for charging the battery 20. The main control chip 21, powered by the battery 20, is the primary control board for the entire device. It is responsible for controlling and storing signals from the servo 19 and pressure sensor 4, displaying the training feedback interface 12, and responding to the grip strength calibration button 17, wrist strength calibration button 16, and training button 13. The signal transmitter 22 converts the electrical signal from the pressure sensor 4 into pressure data and transmits it to the main control chip 21.

[0058] Please refer to the figure, which shows the training control and feedback interface of the panel, which has a grip calibration button 17, a wrist calibration button 16, a training button 13 and a training feedback interface 12. Users can perform calibration and training actions through the panel.

[0059] The training feedback interface 12 uses a 128×64 pixel OLED display and updates the display content with a sampling period of 250ms. During training, the interface will display the current training stage (Stage) and a time progress bar to represent the current grip contribution rate CRGF. Based on the current training stage, the target contribution rate (15%-30%-45%-60%) is displayed to guide the user to control the grip strength. Figures 6 to 8 , the present invention can be divided into two parts: calibration and training:

[0060] Calibration: When using for the first time, the user needs to calibrate the user's maximum grip strength (GF mvc ) and maximum wrist force (WF mvc ).

[0061] The calibration process is as follows: the user needs to press the grip calibration button, then grasp the support bar 1 and exercise bar 3 with maximum strength and hold for 3 seconds, and the system will automatically record the GF mvc , and then press the button again to complete the measurement of the maximum grip strength; then the user presses the wrist force measurement button, at this time the device will activate the servo 19, the servo gear 18 slowly rotates, driving the rack 8 to move backward, thereby stretching the second resistance spring 10, the user needs to keep the wrist flexion and extension movement to resist the tension throughout the process, when the user reaches the limit of tolerance, press the button again, the system will automatically record WF mvc , complete the measurement of maximum wrist strength; the measurement data will be stored in the main control module for subsequent training.

[0062] Training: Training consists of four stages. Press the training button to start training. The user starts to grasp, and the pressure sensor 4 monitors the actual grip force GF in real time. real , based on GF mvc Calibration value calculation real-time contribution rate CR GF , the interface will show the current stage of the grip strength target contribution rate. GF When the target value of the current training stage is reached (e.g., the grip strength target contribution rate of stage 1 = 15%), the device immediately starts the servo 19, drives the second resistance spring 10, and outputs the resistance WF according to the target contribution value CRWF of the current stage. mvc (For example, the target contribution value CR in stage 1 WF =45%). The output impedance calculation formula is shown in formula (4).

[0063] WF real =WF mvc ×CR WF (4);

[0064] During the training process, the user needs to control the grip force so that the contribution rate of the current grip force CR GFThe contribution rate is the same as the grip strength target of the current training stage (for example, the maximum grip strength calibrated by the user through the device is 100N. If the grip strength target contribution rate of the current training stage is 15%, then the user needs to control the grip strength to about 15N).

[0065] At the same time, users also need to maintain wrist flexion and extension movements to resist the spring tension for training. After maintaining this position for 3 seconds, they will enter the next node training, and so on to complete the four stages of training.

[0066] The above description is only a description of the preferred embodiments of the present invention and does not limit the scope of the present invention. Any changes and modifications made by ordinary technicians in the field of the present invention based on the above disclosure shall fall within the scope of protection of the claims.

Claims

1. A forearm muscle balance training device that couples grasping and wrist movement, characterized in that: include, A first housing is provided with a split grip structure; A pressure detection sensor detects the pressure of the hand grip structure; The second housing is coupled to the first housing and is internally connected to the first housing. The fingers pass through the second housing to grasp the split grip structure. The first housing rotates relative to the coupling point with the second housing as the wrist moves. The third shell is fixedly connected to the second shell. The third shell is provided with a resistance adjustment device, which is connected to the first shell through an elastic structure. When the resistance adjustment device is driven, the elastic structure pulls the first shell to rotate, thereby driving the wrist to move and applying reverse resistance to the wrist.

2. The forearm muscle balance training device for coupling gripping and wrist movements according to claim 1, characterized in that: The split grip structure includes a support rod and a motion rod arranged in parallel, and both ends of the support rod and the motion rod are adjustably fixed on the first shell; a first resistance spring is arranged between the support rod and the motion rod, and the extension direction of the first resistance spring is from the support rod to the motion rod. By holding the support rod and the motion rod, the first resistance spring is squeezed to form resistance feedback; a pressure detection sensor is provided on the support rod to obtain the time domain characteristics of the grip force.

3. The forearm muscle balance training device for coupling gripping and wrist movement according to claim 1 or 2, characterized in that: The resistance adjustment device includes a steering gear connected to a gear to transmit motion to the gear, the gear is meshed with a rack, and one end of the rack is fixedly connected to the first housing via a second resistance spring; The rack meshes with the gear, converting the angular displacement of the servo into linear displacement of the rack.

4. The forearm muscle balance training device for coupling gripping and wrist movements according to claim 2, characterized in that: Two opposite side walls of the first shell are provided with slots, and the support rod and the movement rod pass through the slots and are fixed to the first shell.

5. The forearm muscle balance training device for coupling gripping and wrist movements according to claim 4, characterized in that: Four spherical grooves are provided in the length direction of the slot to fix the support rod and the motion rod.

6. The forearm muscle balance training device for coupling gripping and wrist movements according to claim 2, characterized in that: The axial motion planes of the support rod and the motion rod are orthogonal to the coronal plane of the wrist joint, which effectively solves the mechanical interference between the gripping action and the wrist movement.

7. The forearm muscle balance training device for coupling gripping and wrist movements according to claim 2, characterized in that: A rechargeable main control module is provided in the third shell, and the main control module includes a battery, a main control chip and a signal transmitter; the signal transmitter is used to convert the electrical signal of the pressure detection sensor into pressure data and transmit it to the main control chip.

8. The forearm muscle balance training device for coupling gripping and wrist movements according to claim 7, characterized in that: The surface of the third shell is provided with a panel, on which are arranged a grip strength calibration button, a wrist strength calibration button, a training button and a training feedback interface, and the user performs calibration and training actions through the panel.

9. A method for training forearm muscle balance by coupling grip and wrist movement, using the forearm muscle balance training device for coupling grip and wrist movement as described in any one of claims 1 to 8, which strengthens the coordinated contraction ability of agonist and antagonist muscles by synchronously regulating grip strength and wrist strength; the following formula is used for calculation: Where: CR GF CR is the contribution rate of grip to the total training load intensity; WF GF is the contribution rate of wrist force to the total training load intensity; real The gripping force detected by the gripping sensor in real time; GF mvc The maximum grip force of the user; WF real The resistance strength provided by the wrist resistance mechanism; WF mvc is the maximum force of the user's wrist flexion and extension; total load intensity: the combined force of grip and wrist, that is, the sum of the contribution rates of grip and wrist force, calculated as formula (2): TE=CR GF +CR WF (2)。 10. The forearm muscle balance training method of coupling grip and wrist movement according to claim 9, characterized in that: The following steps are included: Calibration: When using for the first time, the user needs to calibrate the user's maximum grip strength (GF mvcc ) and maximum wrist force (WF mvc ); 1) Grasp the support bar and exercise bar and hold for 3 seconds, the system will automatically record GF mvc , complete the measurement of maximum grip strength; 2) Activate the servo and apply tension to the first housing through the gear rack meshing structure. The user maintains wrist flexion and extension to resist the tension. The system will automatically record WF mvc , complete the measurement of maximum wrist strength; 3) The measurement data will be stored in the main control module for subsequent training; 4) Training: 4.1) Grasping begins, and the pressure sensor monitors the actual gripping force GF in real time real , based on GF mvvc Calibration value calculation real-time contribution rate CR GF , the interface will display the current stage’s grip strength target contribution rate; 4.2) When CR GF When the target value of the current training phase is reached, the servo starts and the target contribution value CR is calculated according to step 4.

1. GF Output resistance WF mvc ; The output impedance calculation formula is, WF real =WF mvc ×CR WF (4)。

Images