Portable arm rehabilitation training device

Abstract

The invention provides a portable arm rehabilitation training device which comprises a main body, the main body comprises a shell, and the main body further comprises a handle arranged on the upper portion of the shell and used for limiting the arm of a user; the at least four rolling mechanisms are arranged below the shell and can be driven by the motor to drive the portable arm rehabilitation training device to perform corresponding operation; the detection mechanism is configured to detect and obtain the autonomous movement condition of the user in the movement process and transmit the autonomous movement condition to the controller; and the controller is configured to control the portable arm rehabilitation training device to execute corresponding operation according to at least two of the autonomous movement condition, the operation parameters and the operation modes.

Description

Technical Field

[0001] The present invention relates to rehabilitation training, in particular to a portable arm rehabilitation training device. Background Art

[0002] Stroke, commonly known as "stroke" or cerebrovascular accident, is an acute cerebrovascular disease caused by a sudden rupture of a cerebral blood vessel or a blockage that prevents blood flow to the brain, resulting in brain tissue damage. Stroke survivors experience significant hospitalization and disability rates. Approximately 70% of stroke survivors may experience permanent upper limb hemiplegia, while approximately 33-60% of patients still experience functional impairment six months after the stroke. Upper limb paralysis after stroke is a major concern after discharge; if patients do not use the affected limb in daily life, this paralysis can further hinder further recovery. Therefore, promoting the recovery of paralyzed upper limbs is a key area of ​​stroke rehabilitation. One goal of using home-based technologies is to reduce the need for direct contact with therapists, thereby reducing medical costs.

[0003] Training devices, such as training robots, have been a major technological advancement in rehabilitation over the past decade, allowing for high-dose / high-intensity training with guided movements and standardized behavioral regimens. However, most rehabilitation robots are bulky and primarily used in hospitals and clinics, lacking the flexibility required for home or community settings. Most importantly, they are expensive, making them unaffordable for patients to use at home.

[0004] Currently proposed training robots include those based on wheeled end-effectors, arm-driven end-effectors, and exoskeleton-based training robots. Exoskeleton-based training robots can be attached to the upper limbs of the human body in a wearable form, so their design is very complex. The positions of their joints do not match those of human joints, so each joint movement of the robot requires perfect measurement of the angle and torque of the user's upper or lower limbs to achieve normal rehabilitation training movements. Wheeled end-effector training robots and arm-driven end-effector-based training robots are generally connected to the patient through a distal point. Although the kinematic model is simpler, they are bulky and lack the flexibility required for home or community environments. Summary of the Invention

[0005] In order to achieve the above-mentioned object, the present invention provides an arm rehabilitation training robot with a compact design, which is easy to carry and can be placed on a desktop for use.

[0006] The present invention provides a portable arm rehabilitation training device, comprising a main body, the main body comprising a housing, and the main body further comprising:

[0007] a handle disposed above the housing for restraining a user's arm;

[0008] at least four rolling mechanisms, which are disposed below the housing and are configured to be driven by a motor to drive the portable arm rehabilitation training device to perform corresponding operations;

[0009] A detection mechanism, the detection mechanism being configured to detect and obtain the autonomous movement conditions of the user during exercise and transmit the autonomous movement conditions to the controller;

[0010] The controller is configured to control the portable arm rehabilitation training device to perform corresponding operations according to at least two of the autonomous movement situation, operating parameters and operating modes, wherein the operating parameters include one or more of direction, speed, angle, distance, and resistance, and the operating mode includes a passive mode, an assisted mode, a resistance mode, and one of a passive and assisted mode.

[0011] Wherein, in the passive mode, the portable arm rehabilitation training device guides the user to perform movements according to the operating parameters without detecting the user's autonomous movement;

[0012] Wherein, in the assist mode, the portable arm rehabilitation training device assists the user in performing movements according to the autonomous movement situation and the operating parameters;

[0013] wherein, in the resistance mode, the portable arm rehabilitation training device applies resistance to the user's movement according to the autonomous movement situation and the operating parameters; and

[0014] In the passive and assisted modes, the portable arm rehabilitation training device switches between not detecting the user's autonomous movement and detecting the user's autonomous movement to guide and assist the user in performing movements according to the autonomous movement and the operating parameters.

[0015] In one aspect, the detection mechanism is configured to obtain the autonomous motion condition based on the current feedback value of the motor.

[0016] In one aspect, the portable arm rehabilitation training device further includes an infrared sensor coupled to the controller and configured to detect an edge of a use position of the portable arm rehabilitation training device.

[0017] In one aspect, the portable arm rehabilitation training device further includes a mode selection device, wherein the mode rotation device is coupled to the controller and configured to receive the selected operation mode and provide the selected operation mode to the controller.

[0018] On the one hand, the portable arm rehabilitation training device also includes an angle distance control device, which is coupled to the controller and is configured to receive a selection of the angle and / or distance traveled by the portable arm rehabilitation training device and provide the selected angle and / or distance to the controller.

[0019] In one aspect, the portable arm rehabilitation training device further comprises a speed control device coupled to the controller, the speed control device being configured to receive a selection of a speed of movement of the portable arm rehabilitation training device and provide the selected speed to the controller.

[0020] In one aspect, the portable arm rehabilitation training device further includes a status display screen, which is located on the housing and configured to display the status of the portable arm rehabilitation training device.

[0021] In one aspect, the autonomous motion condition includes torque.

[0022] In one aspect, the portable arm rehabilitation training device further includes a touch screen, which is located on the housing and is configured to provide an interactive interface for selecting desired operating parameters and / or operating modes.

[0023] In one aspect, the portable arm rehabilitation training device further comprises an adjustable forearm support disposed at the rear portion of the housing.

[0024] The portable arm rehabilitation training device of the present invention is compact and portable, can be operated on a desktop, and is suitable for home or community rehabilitation. By increasing access to effective treatment, the portable arm rehabilitation training device of the present invention can enhance cost-effective rehabilitation outcomes and improve the quality of life of stroke survivors. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A portable arm rehabilitation training device according to an embodiment of the present invention is shown.

[0026] Figure 2 The upper surface of a portable arm rehabilitation training device according to one embodiment of the present invention is shown.

[0027] Figure 3 The figure shows the side surface of a portable arm rehabilitation training device according to one embodiment of the present invention.

[0028] Figure 4 A schematic diagram of a portable arm rehabilitation training device in use according to an embodiment of the present invention is shown.

[0029] Figure 5 A schematic diagram of left and right movement of a portable arm rehabilitation training device according to an embodiment of the present invention is shown.

[0030] Figure 6 A schematic diagram of forward and backward movement of a portable arm rehabilitation training device according to an embodiment of the present invention is shown.

[0031] Figure 7 A schematic diagram of a portable arm rehabilitation training device in an edge state according to an embodiment of the present invention is shown.

[0032] Figure 8 A schematic diagram of a portable arm rehabilitation training device and a desktop used therein is shown according to an embodiment of the present invention.

[0033] Figure 9 A schematic diagram of a processor of a portable arm rehabilitation training device according to an embodiment of the present invention is shown.

[0034] Description of reference numerals:

[0035] 1. Status display; 2. Mode adjustment knob; 3. Direction adjustment knob; 4. Emergency stop button; 5. Palm rest; 6. Remaining battery display; 7. Power switch; 8. Charging port; 9. Handle; 10. Speed ​​adjustment knob; 11. Distance adjustment knob; 12. Hand guard; 13. Warning tape. DETAILED DESCRIPTION

[0036] Embodiments of the present disclosure and their advantages may be best understood by referring to the following detailed description.It should be understood that like reference numerals are used to identify like elements illustrated in one or more of the accompanying drawings.

[0037] The primary objective of this invention is to develop a portable, affordable training device that can be operated on a desktop and used for home or community rehabilitation of upper limb hemiplegia, such as patients after stroke or acquired brain injury. This training device is designed to enhance motor recovery by providing structured, guided training tailored to the various stages of recovery after stroke or the degree of arm impairment, ultimately improving the independence and quality of life of stroke survivors.

[0038] A portable arm rehabilitation training device according to the present invention includes a main body including a housing. The main body also includes at least three rolling mechanisms, an infrared sensor, a detection mechanism, a distance control device, a speed control device, and a controller configured to cause the portable arm rehabilitation training device to operate in at least one of a passive mode, an assist mode, and a resistance mode.

[0039] like Figure 1-4 As shown, a portable arm rehabilitation training device according to one embodiment of the present invention includes a main body, which includes a housing. The housing, excluding the handle and armrest, can have a length of approximately 350-450 mm, a width of approximately 200-270 mm, and a height of approximately 100-180 mm, making it suitable for arm placement. For example, the housing has dimensions of 420 mm (length) x 245 mm (width) x 150 mm (height). The weight of the portable arm rehabilitation training device (excluding the handle and armrest) can be less than 7 kg for portability, for example, approximately 3 kg, 4 kg, 5 kg, or 6 kg, depending on the material used. In one embodiment, the portable arm rehabilitation training device can be made of materials that meet low weight and low cost requirements and are suitable for home use. For example, the frame structure of the portable arm rehabilitation training device is constructed of high-strength, lightweight, corrosion-resistant carbon fiber panels, which include copper columns for structural support and electrical connections to ensure structural stability. The hand rest is made of ABS plastic, the fixing strap can be an elastic fabric and nylon braid, and the handle / grip is made of ABS plastic coated with non-slip rubber.

[0040] In one embodiment, the portable arm rehabilitation training device can operate in multiple control modes. The selection of control mode and related parameters can be viewed through a status display screen 1 located on the outer shell, which can be an LED panel, such as an LED panel with a size of 3.12 inches. In one embodiment, the training device is rechargeable, with a built-in rechargeable battery, such as a lithium battery pack, with a battery capacity of 2000-4000mAh, such as 6000mAh, and its charging time can be several hours, such as 1 hour, 2 hours, 3 hours, etc. After being fully charged, the rechargeable battery can operate continuously for at least 2 hours. The rechargeable battery can provide stable and continuous power supply capability, has high energy density, and has a power display and safety protection mechanism. In one embodiment, the remaining power status can be viewed through the remaining power display screen 6 on the side of the main body. The outer shell is also provided with a power switch 7 and a charging interface 8 for providing a charging cable to connect to an external power source for charging.

[0041] In one embodiment, at least four rolling mechanisms are provided below the housing, such as Figure 3As shown, it is configured to be driven by a motor to drive the movement of the portable arm rehabilitation training device. The rolling mechanism is, for example, a universal caster, such as 4 universal casters, optionally, for example, 4 Mecanum wheels. The rolling mechanism is controlled by an actuator, which includes, for example, 4 brushless DC motors and a core control board. In this embodiment, the rolling mechanism can achieve omnidirectional movement of the platform and cooperate with the control system to complete complex path movement. According to one embodiment of the present invention, the actuator has the characteristics of high efficiency, low noise, and precise control, and torque control can be achieved in combination with current feedback. Thus, the rolling mechanism can drive the portable arm rehabilitation training device to move on the desktop, and can move in two different motion modes in opposite directions: 1) left and right semicircular motion, 2) left and right arm forward / backward extension motion, thereby driving the user to perform active or passive motion.

[0042] In one embodiment, the housing is provided with an upwardly extending handle 9, which is of suitable shape and located at the upper front side of the housing for the user's hand to grasp. The housing is also provided with an adjustable forearm support, such as a hand rest 5, located at the rear. This support is suitably shaped to accommodate the user's arm. Optionally, a strap is provided above the hand rest, with its ends secured to the sides of the hand rest to help secure the user's arm to the top of the hand rest and reduce movement of the arm relative to the training device during movement. In one embodiment, a soft hand guard 12 is also provided at the rear of the housing, between the handle 9 and the hand rest 5. This cushion is suitably shaped to accommodate the user's hand, such as the side of the hand. This portable arm rehabilitation training device is thus suitable for arm movement and ergonomics, particularly providing support for the forearm while being smooth enough to slide onto a table or desk surface via a rolling mechanism. Optionally, the adjustable forearm support can be replaced with an inflatable support to provide customized comfort, or a universal design using elastic material to accommodate various arm sizes. Optionally, the adjustable forearm supports can be replaced with foot supports to allow for lower limb training.

[0043] In one embodiment, the portable arm rehabilitation training device includes infrared sensors located on both sides of the housing and configured to detect the edge of the use position. Figure 7 and Figure 8 As shown, before the portable arm rehabilitation training device falls off the table, the infrared sensor will detect that it is at the edge and send a signal to the controller to sound a buzzer alarm and preferably, an emergency stop. Optionally, another large red emergency stop button 4 is provided on the left side of the portable arm rehabilitation training device, which can be pressed to immediately stop the use of the training device. Optionally, as shown in FIG. Figure 8As shown, one or more contrasting colored warning tapes 13 are placed at the edge of the table where the training device is located. The warning tapes 13 are positioned at a distance of 5 cm or greater, such as approximately 5 cm or 7 cm, from the edge of the table. The training device is configured to maintain a minimum distance of 5 cm or greater from the warning tapes. When the training device is closer than the minimum distance from the warning tapes, for example, less than 5 cm, the training device's infrared sensor senses the presence of the warning tapes and sends a buzzer alarm to the controller, notifying the controller that the training device is at the edge.

[0044] In one embodiment, the portable arm rehabilitation training device is configured to indirectly implement a torque detection function using motor current feedback values, such as the current feedback values ​​of four brushless DC motors. In one embodiment, based on the torque constant of the motor, the controller is configured to convert the detected current feedback values ​​into corresponding torque values ​​in real time, thereby determining the force applied by the user. This detection allows the training device to provide necessary support as the patient recovers some voluntary movement, thereby promoting the restoration of active control in certain challenging movements (such as elbow extension and shoulder abduction). In one embodiment, the portable arm rehabilitation training device can be configured to manually control torque, speed, and distance. In one embodiment, the portable arm rehabilitation training device can be configured to manually control torque, speed, and distance based on the user's movements. In one embodiment, the portable arm rehabilitation training device can be configured to control torque, speed, and distance based on user or operator settings. In one embodiment, the portable arm rehabilitation training device is configured to include a force sensor and / or position sensor configured to measure the user's force and manually adjust the assistance accordingly.

[0045] Optionally, torque, speed and distance can be implemented as manual monitoring / control or automatic detection / control. Optionally, the data obtained from the monitoring and detection are stored in the memory of the training device and can be remotely operated or retrieved by an operator via a local area network, a wide area network, the Internet, etc. through a transceiver for measurement and comparison before and after training and across time. Optionally, the training device is configured to be integrated with a telemedicine platform, whereby the data obtained from the monitoring and detection are provided to the telemedicine platform, which can remotely monitor the user's rehabilitation progress, enabling medical staff to track rehabilitation results and adjust treatment plans accordingly. Optionally, the training device is configured to be connected to a panel of a game or virtual reality program to conduct interesting and virtual task-specific training in daily life activities, thereby increasing the individual's enthusiasm for simulation training and bridging the gap between arm use in daily life.

[0046] In one embodiment, the portable arm rehabilitation training device optionally includes a mode adjustment knob 2 located on the housing. Rotating the mode adjustment knob 2 enables rapid switching between different operating modes, thereby improving usability. In one embodiment, the portable arm rehabilitation training device can also be adjusted using adjustment options on the touch screen of the housing. In one embodiment, the mode selection of the portable arm rehabilitation training device can be achieved from other clients via remote control.

[0047] In one embodiment, the portable arm rehabilitation training device includes a direction adjustment knob 3 located on the outer shell. By rotating the direction adjustment knob 3, the movement direction of the training device can be controlled. For example, the movement direction can be a vertical movement direction forward and backward, or a semicircular movement direction, such as the right arm from left to right and reverse, and the left arm from right to left and reverse.

[0048] In one embodiment, if Figure 5 As shown, the training device can be set to rotate left and right along a semicircle, starting from the starting position on the right side. During the movement, the elbow is flexed and extended, and the shoulder is abducted and adducted. For example, the starting position of the training device is first fixed, such as the starting position on the right side, and the direction adjustment knob 3 of the training device is set to the left side. Then, the controller controls the motion trajectory of the training device to rotate and extend toward the upper left, and then rotate and retract along the same trajectory. In one example, the starting position of the training device is first fixed, such as the starting position on the left side, and the direction adjustment knob 3 of the training device is set to the right side. Then, the controller controls the motion trajectory of the training device to rotate and extend toward the upper right, and then rotate and retract along the same trajectory. At the same time, the distance adjustment knob 11 can be used to set the corresponding angle.

[0049] In one embodiment, if Figure 6 As shown, the training device can be set to move forward and backward, starting from a central starting position, to extend the elbow and extend and adduct the shoulder during movement. In one embodiment, the starting position of the training device is fixed, for example, the central starting position, and the direction adjustment knob 3 of the training device is set to the front. The controller then controls the movement trajectory of the training device to move forward and then retract along the same trajectory. The distance adjustment knob 11 can also be used to set the corresponding distance.

[0050] In one embodiment, the portable arm rehabilitation training device includes a distance angle control device for adjusting the relative distance between the detected user's arm and the use position. Figure 1As shown, a distance adjustment knob 11 is provided on the housing. The distance control device can also control the angle and distance of the training device's movement. In one embodiment, four distance settings can be provided, with the distance and angle control device adjusting based on: 1) the patient's ability, 2) the patient's arm length determined by body type, and 3) the size of the tabletop on which the robot is operating. Optionally, in one embodiment, when the direction is in the "left" or "right" position, the distance adjustment knob 11 automatically switches to the "angle" adjustment position. In one example, the angle adjustment can be divided into four levels: level 1 for approximately 80 degrees, level 2 for approximately 100 degrees, level 3 for approximately 120 degrees, and level 4 for approximately 140 degrees. Alternatively, the angle can be adjusted using other limiting mechanisms. In one embodiment, when the direction is in the "front" position, the distance adjustment knob 11 automatically switches to the "distance" adjustment position. In one example, the distance adjustment can be divided into four levels: level 1 for 20 cm, level 2 for 30 cm, level 3 for 40 cm, and level 4 for 50 cm. Different distances and angles can be adjusted as needed.

[0051] In one embodiment, the portable arm rehabilitation training device includes a speed control device for adjusting the speed of movement of the portable arm rehabilitation training device. In one example, a speed adjustment knob 10 is provided, for example, which provides five speed settings, such as 0.1m / s, 0.2m / s, 0.3m / s, 0.4m / s, and 0.5m / s. Adjustments can be made based on the user's ability to set more or fewer speed settings. The speed control is designed with reference to the needs of post-stroke patients. The controller drives the drive device to drive the universal wheel to move at the selected speed.

[0052] Each of the above knobs can be circular and adjustable, and can be set to be able to move in a vertical or semi-circular direction and appropriately adjust the movement speed and distance to suit the needs of individual users.

[0053] In one embodiment, the portable arm rehabilitation training device includes a controller coupled to an infrared sensor, a detection mechanism, a distance control device, and a speed control device to control the portable arm rehabilitation training device to perform an appropriate mode of operation. For example, the force or torque of the training device is provided by an actuator to allow switching of the training mode to suit the patient's needs, thereby realizing passive, active, and auxiliary modes of rehabilitation training. In one embodiment, the portable arm rehabilitation training device also includes a touch screen located on the housing, the touch screen being configured to provide an interactive interface for selecting the desired operating parameters. In one embodiment, the controller is configured to remotely receive the operating parameters.

[0054] In one embodiment, the connection mode and communication mode between the controller and the sensor of the portable arm rehabilitation training device, such as current feedback, distance feedback, etc., are as follows: Figure 9 As shown. First, the portable arm rehabilitation training device can be configured without an independent torque sensor. In the case that the training device does not have an independent torque sensor, preferably, one is provided in the training device, and indirect torque measurement is achieved through the current detection module (Current Sensing) built into the motor. The signal of the indirect torque measurement information is transmitted back to the controller processor, such as the main control board, in real time through a brushless motor driver, such as an FOC controller, for judging the user's force application. At the same time, the training device is also provided with an optical sensor, for example, located at the edge of the training device, which determines whether the training device slides out of the desktop by changing the distance. The controller of the training device is also connected to a switch and an emergency button to turn on and emergency brake, and is charged through a connection with the charging port, and the power is displayed on the display. The above connections are all realized through male and female connectors. Of course, optionally, the training device can also be configured to include a torque sensor.

[0055] The signal transmission path of the indirect torque measurement information is as follows Figure 9 As shown in the figure, the user first applies force (grips the stick), which in turn applies force to the motor shaft. This in turn causes a change in motor current, which is sensed by a suitable device, such as a Hall effect sensor or shunt resistor. The electric control board / driver board collects this current information and transmits it to the controller's processor via the CAN (Controller Area Network) bus. The processor then calculates an estimate of the current torque and determines whether to use assist or impedance, thereby outputting a control signal.

[0056] The controller's processor is connected to the electric control board, which serves as the motor controller. The motor controller includes a current sensing circuit and a 1Mbps CAN communication interface. The current sensing circuit optionally supports a detection range of 6A-20A. The CAN communication interface is, for example, a 1Mbps interface. The controller's processor communicates with the four motor control units of the four rolling mechanisms via the CAN bus to perform read and write operations. The read operation reads the real-time current, motor angle, and speed, and the write operation writes the desired speed / torque command, which is determined by the training mode.

[0057] In one embodiment, the controller of the portable arm rehabilitation training device converts the current into a corresponding torque value in real time based on the motor's torque constant (approximately 0.8-0.9 N·m / A), thereby determining the force applied by the user. Optionally, the controller employs a FOC (field vector control) strategy. In various training modes, the controller implements the following functions based on the user's movement intention and torque feedback:

[0058] In one embodiment, the controller is configured to enable the portable arm rehabilitation training device to execute at least one of the following passive mode, auxiliary mode and active mode, wherein the selected mode can be determined based on the ability of the user (patient) or the advice of the therapist.

[0059] a) Passive Mode - In this mode, the portable arm rehabilitation training device is configured to run according to a predetermined trajectory without the user actively exerting force. The portable arm rehabilitation training device is configured to continuously monitor torque (current) and automatically slow down or stop if an abnormal increase is detected to ensure safety. In this mode, the training device guides the patient's movements without any active participation, promoting motor learning through personal movement. This passive mode is particularly suitable for users in the early stages of recovery.

[0060] b) Assisted Mode - This assisted mode allows the training device to detect active movement through a detection mechanism and provide assistance based on the force applied by the patient. In this mode, the controller is configured to detect the current of the entire system in real time. After detecting a slight active exertion by the user, the controller immediately increases the motor current to provide torque assistance consistent with the direction of the user's movement to help them complete the target movement. This assisted mode encourages active participation and provides support for individuals who can make some effort. It is particularly helpful in promoting elbow extension and shoulder abduction, consistent with the Brunnstrom movement recovery stage. This assisted mode is particularly suitable for the stage where the user has progressed to the point where they can provide sufficient applied force.

[0061] c) Resistance Mode – In this mode, the controller is configured to monitor the current flowing through the entire system in real time and, through the actuators, apply a constant or increasing resistance in the opposite direction of the user's movement. This resistance may be adjustable. In this mode, the user must actively overcome this resistance to complete the movement. This resistance mode allows the user, particularly those in the final stages of recovery, to exert force against the resistance of the training device, promoting muscle strengthening and endurance. By requiring the individual to overcome the robot's resistance, the resistance mode encourages muscle strengthening.

[0062] In addition, a dual-mode form can optionally be set according to needs, namely dual mode (assisted and passive AE+PE; passive and assisted PE+AE) - dual mode allows the user to customize the training device to combine the assisted mode and the passive mode, moving in opposite directions to meet the user's needs according to the user's recovery stage model (for example, referring to the Brunnstrom movement recovery stage), thereby providing a comprehensive rehabilitation experience tailored to the user's current ability. For example, the dual mode allows the assisted mode and the passive mode to be combined in opposite directions, respectively, to optimize the arm capacity according to individual needs.

[0063] Therefore, through this torque estimation and closed-loop control strategy based on current feedback, the portable arm rehabilitation training device according to the present invention can achieve precise and reliable motion assistance and training adjustment to meet the needs of different rehabilitation stages.

[0064] Table 1 below provides common hemiplegic arm movement suggestions for post-stroke patients and the torque control recommended by the robot. The torque control has been stored in a pre-set mode and stored in the memory of the training device. According to the selected mode, the arm movement and the recommended torque mode are selected to achieve control of the movement of the training device.

[0065] Table 1

[0066]

[0067]

[0068] In one embodiment, the training device's mode selection is determined by the user's (patient's) ability or the therapist's recommendation. Recommended torque modes can be found in Table 1 above. In one embodiment, the training device's mode does not change in real time based on the client's force output, but rather through an adjustment mechanism, such as a knob, to change the mode, angle, speed, and distance.

[0069] In one embodiment, in passive mode, the user is in a relaxed state without any active control, and the training device guides the patient's movements without any active participation, promoting motor learning through personal movement. A controller controls the training device to perform flexion and extension of the elbow and adduction of the shoulder. The controller controls the motor of the universal roller, driving the universal roller to drive the training device to move forward and backward and rotate, thereby achieving movement of the elbow and shoulder. In one embodiment, the torque is set to control the distance, angle, and speed of the training device's movement based on the user's condition through a distance angle control device and a speed control device. In one example, the user selects the passive mode, adjusts the direction to the right, and sets both the distance angle control device and the speed control device to level 1. The training device drives the user's arm to rotate 80 degrees to the right at a speed of 0.1 m / s and back, thereby achieving passive movement. In one example, the user selects the passive mode, adjusts the direction to the front, sets the distance angle control device and the speed control device to gear 2, and the training device drives the user's arm to move 30 cm to the front at a speed of 0.2 m / s and then returns to achieve passive exercise.

[0070] In one embodiment, in assist mode, the user is in a state of weak active elbow extension / flexion and shoulder abduction / adduction control. The training device needs to detect active movement through a detection mechanism and provide assistance based on the force applied by the user. The controller controls the distance, angle, and speed of the training device's movement through a distance and angle control device and a speed control device, and selects a slightly weaker torque, thereby controlling the training device to perform elbow flexion and extension and shoulder abduction and adduction movements with partial participation from the user. In one example, the user selects the assist mode, adjusts the direction to the left, and sets both the distance and angle control device and the speed control device to gear 1. The training device uses a set smaller force to drive the user's arm to rotate 80 degrees to the left at a speed of 0.1 m / s and then return.

[0071] In one embodiment, in resistance mode, the user is in a state of full active extension / flexion and abduction / adduction control. The training device detects active movement through a detection mechanism and provides little or no assistance based on the force applied by the user. The controller provides resistance through the distance angle control device and the speed control device, thereby controlling the training device to perform elbow flexion and extension and shoulder abduction and adduction movements with the user's full or almost full participation. In one example, the user selects the resistance mode, adjusts the direction to the left, and sets both the distance angle control device and the speed control device to level 1. The training device provides resistance, prompting the user to exert force independently, driving their arm to rotate 80 degrees to the left at a speed of 0.1 m / s and then return.

[0072] In one embodiment, in the passive and assist / assist and passive mode, the user is in a state of flexor coordination but without active extension and abduction control. The training device detects active movement through a detection mechanism and provides appropriate assistance according to the user's recovery stage. In the assist mode, assistance is provided for elbow flexion and shoulder adduction, and in the passive mode, the user is guided to elbow extension and shoulder abduction. The controller provides resistance through the distance angle control device and the speed control device, thereby controlling the training device to provide different resistance and assistance when the user performs different movements. In one example, the user chooses to select the mode as the passive and assist mode, adjusts the direction to the left, and sets the distance angle control device and the speed control device to gear 1. The training device drives the user's elbow flexion and shoulder adduction with a set smaller force, and drives the user's elbow extension and shoulder abduction with a larger force, achieving an 80-degree rotation to the left at a speed of 0.1 m / s, and returns in the same manner.

[0073] A portable arm rehabilitation training device according to another embodiment of the present invention includes a main body, which includes a housing.

[0074] In one embodiment, the portable arm rehabilitation training device can operate in multiple control modes. In one embodiment, the training device is rechargeable, has a built-in rechargeable battery, is turned on and off by a power switch set on the surface, and is charged through a charging port.

[0075] In one embodiment, the housing is provided with an upwardly extending handle, which is of a suitable shape and located at the upper front side of the housing for the user to grasp. In one embodiment, four universal casters are located below the housing to drive the movement of the portable arm rehabilitation training device. In one embodiment, the housing is also provided with an adjustable hand rest located at the rear, which is of a suitable shape to facilitate the placement of the user's arm.

[0076] In one embodiment, the portable arm rehabilitation training device includes a detection mechanism located within the housing, which is configured to detect the patient's autonomous movement during exercise. The detection mechanism transmits the detected signal to the controller, and the controller is configured to enable the portable arm rehabilitation training device to receive operating parameters from the portable arm rehabilitation training device or provided externally, and to execute at least one of the passive mode, auxiliary mode, and active mode or a mixed mode as described above. In one embodiment, the portable arm rehabilitation training device includes a mode adjustment knob located on the housing, and rapid switching between different operating modes is achieved by rotating the mode adjustment knob. In one embodiment, the portable arm rehabilitation training device receives one or more operating parameters and the selected mode from the portable arm rehabilitation training device or provided externally through remote control or touch screen selection, and selects and adjusts the portable arm rehabilitation training device to improve usability.

[0077] According to one embodiment of the present invention, a portable arm rehabilitation training device group is also proposed, which includes two coordinated portable arm rehabilitation training devices for double-arm training of the left arm and the right arm together. Through controllers that communicate with each other, the two portable arm rehabilitation training devices for double arms are coordinated in time and space, so that they move symmetrically at the same time and withstand unpredictable forces from the hemiplegic arm.

[0078] It can be seen that the portable arm rehabilitation training device proposed in the present invention is used for home or community rehabilitation, and is intended to promote motor recovery of upper limbs with hemiplegia after stroke. The training device is designed to be lightweight and compact, with a battery life of at least two hours after a full charge, and can operate seamlessly in a home environment or a community environment. In addition, the training device can operate in various modes, including passive, assisted, resistance and combined modes, to meet the needs of customers with different degrees of arm injuries. An internet-connected version can be set up according to the situation, so that the portable arm rehabilitation training device can be controlled and operated through a controller or mobile terminal; a version that does not require an Internet connection can also be set up, and can be operated independently without complex operations. Because this intervention allows individuals to receive high-dose and high-intensity training, and uses guided movements and standardized behavioral programs.

[0079] The terms used herein are merely for the purpose of describing specific exemplary embodiments and are not intended to be restrictive. As used herein, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" may also be intended to include plural forms. The terms "comprise", "include", "contain" and "have" are inclusive and therefore specify the presence of the features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, parts and / or combinations thereof. Unless the order of execution is clearly indicated, the method steps, processes and operations described herein are not to be interpreted as necessarily requiring them to be performed in the specific order discussed or shown. It should also be understood that additional or alternative steps may be adopted.

[0080] When a feature is described as being "on," "engaged to," "connected to," "coupled to," "associated to," "included in," or "in communication with" another feature, it may be directly on, directly engaged to, connected to, coupled to, associated to, included in, or directly in communication with the other feature, or intervening features may be present. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0081] Again, the foregoing description of exemplary embodiments has been provided for the purposes of illustration and description. It is not intended to be exhaustive or to limit the present disclosure. Even if not specifically shown or described, the individual elements or features of a particular embodiment are generally not limited to that particular embodiment, but are interchangeable where applicable and can be used in selected embodiments. The same situation may also differ in many ways. Such variations are not considered to depart from the present disclosure, and it is intended that all such modifications be included within the scope of the present disclosure.

Claims

1. A portable arm rehabilitation training device, comprising a main body, the main body including a housing, and the main body further comprising: a handle disposed above the housing for restraining a user's arm; at least four rolling mechanisms, which are disposed below the housing and are configured to be driven by a motor to drive the portable arm rehabilitation training device to perform corresponding operations; A detection mechanism, the detection mechanism being configured to detect and obtain the autonomous movement conditions of the user during exercise and transmit the autonomous movement conditions to the controller; The controller is configured to control the portable arm rehabilitation training device to perform corresponding operations according to at least two of the autonomous movement situation, operating parameters and operating modes, wherein the operating parameters include one or more of direction, speed, angle, distance, and resistance, and the operating mode includes a passive mode, an assisted mode, a resistance mode, and one of a passive and assisted mode. Wherein, in the passive mode, the portable arm rehabilitation training device guides the user to perform movements according to the operating parameters without detecting the user's autonomous movement; Wherein, in the assist mode, the portable arm rehabilitation training device assists the user in performing movements according to the autonomous movement situation and the operating parameters; wherein, in the resistance mode, the portable arm rehabilitation training device applies resistance to the user's movement according to the autonomous movement situation and the operating parameters; and In the passive and assisted modes, the portable arm rehabilitation training device switches between not detecting the user's autonomous movement and detecting the user's autonomous movement to guide and assist the user in performing movements according to the autonomous movement and the operating parameters.

2. The portable arm rehabilitation training device according to claim 1, characterized in that: The detection mechanism is configured to obtain the autonomous motion condition according to the current feedback value of the motor.

3. The portable arm rehabilitation training device according to claim 1 or 2, characterized in that: The device further includes an infrared sensor coupled to the controller and configured to detect an edge of a use position of the portable arm rehabilitation training device.

4. The portable arm rehabilitation training device according to claim 1 or 2, characterized in that: Also included is a mode selection device coupled to the controller, the mode rotation device being configured to receive a selected operating mode and provide it to the controller.

5. The portable arm rehabilitation training device according to claim 1 or 2, characterized in that: It also includes an angle distance control device, which is coupled to the controller and configured to receive a selection of an angle and / or distance traveled by the portable arm rehabilitation training device and provide the selected angle and / or distance to the controller.

6. The portable arm rehabilitation training device according to claim 1 or 2, characterized in that: The device further includes a speed control device coupled to the controller, wherein the speed control device is configured to receive a selection of a speed of movement of the portable arm rehabilitation training device and provide the selected speed to the controller.

7. The portable arm rehabilitation training device according to claim 1 or 2, characterized in that: It also includes a status display screen, which is located on the housing and is configured to display the status of the portable arm rehabilitation training device.

8. The portable arm rehabilitation training device according to claim 1 or 2, characterized in that: The autonomous motion condition includes torque.

9. The portable arm rehabilitation training device according to claim 1 or 2, characterized in that: The system further comprises a touch screen, which is located on the housing and configured to provide an interactive interface for selecting desired operating parameters and / or operating modes.

10. The portable arm rehabilitation training device according to claim 1 or 2, characterized in that: Also included is an adjustable forearm support disposed on the rear portion of the housing.

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