Neural rehabilitation limb movement guiding equipment based on bioelectricity signal feedback

Abstract

The invention discloses neural rehabilitation limb movement guiding equipment based on bioelectricity signal feedback, and relates to the technical field of limb movement guiding equipment.The neural rehabilitation limb movement guiding equipment comprises a supporting frame, and two foot strength detection devices and two fixed detection devices are fixedly installed on the left side of the supporting frame. According to the neurological rehabilitation limb movement guiding equipment based on bioelectricity signal feedback, by arranging the foot strength detection device, the fixing detection device and the stress detection device, auxiliary movement is conducted on the feet, the legs and the upper limbs of a patient, multiple functions are integrated, whole-body movement and rehabilitation of the patient are facilitated, and the function and performance of the equipment are improved; through the arranged display screen, the strength and the movement degree of each action of the patient are fed back in real time, the patient is reminded of the movement posture and strength in time, normalization and standardization of each action of the patient are facilitated, the limb movement effect of the patient is improved, and then the rehabilitation effect is improved.

Description

Technical Field

[0001] This invention relates to the field of limb movement guidance equipment technology, and in particular to a neurorehabilitation limb movement guidance equipment based on bioelectric signal feedback. Background Technology

[0002] In today's society, the number of patients with limb motor dysfunction caused by neurological diseases such as stroke, spinal cord injury, cerebral palsy, and Parkinson's disease, as well as accidents, is on the rise. Statistics show that the number of such patients worldwide has reached a considerable scale and is increasing at a certain rate each year. Limb motor dysfunction not only seriously affects patients' ability to care for themselves in daily life and reduces their quality of life, but also places a heavy economic and care burden on patients' families and society.

[0003] Currently, there are numerous treatment methods and devices for restoring limb motor function in the field of neurorehabilitation. Traditional rehabilitation training mainly relies on therapists manually assisting patients in limb movements. This method is not only labor-intensive and time-consuming, but its effectiveness also largely depends on the therapist's experience and skill level, making precise quantification and standardization difficult. With technological advancements, assistive rehabilitation devices have emerged, such as functional electrical stimulation (FES) devices, which induce muscle contraction by applying electrical pulses to nerves or muscles, thus helping patients with limb movement training. However, existing FES devices can only be set to fixed electrical stimulation patterns and cannot guide limb movements. Without a therapist, it is difficult to ensure that movements are performed correctly and systematically, easily leading to less than ideal rehabilitation results and negatively impacting the user experience. To address the shortcomings of existing technologies, we propose a neurorehabilitation limb movement guidance device based on bioelectrical signal feedback. Summary of the Invention

[0004] The main objective of this invention is to provide a neurorehabilitation limb movement guidance device based on bioelectric signal feedback, which can effectively solve the problems in the background art.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A neurorehabilitation limb movement guidance device based on bioelectric signal feedback includes a support frame. A foot force detection device and a fixation detection device are fixedly installed on the left side of the support frame. There are two foot force detection devices and two fixation detection devices. The two foot force detection devices are located to the left of the two fixation detection devices. Force detection devices are provided at both ends of the right side of the support frame. The foot strength detection device includes a foot frame, a tension sensor rotatably mounted on the top of the foot frame, a limit shaft fixedly mounted on the right side of the top of the foot frame, a rotating frame rotatably mounted on the outer surface of the limit shaft, a pull rod fixedly connected to the top of the tension sensor, the top of the pull rod rotatably mounted to the top of the rotating frame, a foot pedal rotatably mounted at the lower end of the rotating frame, and a foot strap fixedly connected to the side of the foot pedal.

[0006] Preferably, the support frame includes a bottom frame, a fixed frame is fixedly installed at the top left end of the bottom frame, a display screen is fixedly installed at the top of the fixed frame, a motion sensing device is provided at the top of the display screen, a protective pad is fixedly installed at the top of the bottom frame, a headrest is fixedly installed at the top right side of the bottom frame, sliding grooves are provided at both ends of the right side of the bottom frame, and the foot frame is fixedly installed on the top left side of the bottom frame.

[0007] Preferably, the fixed detection device includes a side frame, which is fixedly installed on the top of the bottom frame and located at both ends on the left side of the protective pad. A rotating rod is rotatably installed inside the side frame, and a fixed shell is fixedly installed on the side of the rotating rod. A positioning block is provided on one side of the fixed shell, and a connecting sleeve is fixedly connected to the side of the positioning block. Fixed rings are provided on both sides of the lower end of the connecting sleeve, and Velcro straps are fixedly installed on both sides of the top of the connecting sleeve. The Velcro straps are movably sleeved inside the fixed rings.

[0008] Preferably, a first encoder is fixedly installed on the right side of the fixed housing, a rotating shaft is fixedly installed at the output end of the first encoder, a shaft wheel is fixedly sleeved on the outer surface of the rotating shaft, a fixing rope is wound around the outer surface of the shaft wheel, a spiral spring is snapped on the left side of the fixed housing, one end of the spiral spring is embedded in one end of the rotating shaft, and the other end of the fixing rope is fixedly connected to the positioning block.

[0009] Preferably, there are two force detection devices. Each force detection device includes a rotating block. One end of the rotating block is fixedly connected to a moving rod. The left end of the moving rod is fixedly connected to a second encoder. The output end of the second encoder is fixedly connected to a detection wheel. The detection wheel is rotatably mounted on the left end of the moving rod. Limit rods are fixedly installed at both ends of the top of the moving rod. A top frame is fixedly installed on the top of the limit rod.

[0010] Preferably, the rotating block is rotatably mounted on both sides of the right end of the bottom surface of the bottom frame, the limiting rod is slidably mounted inside the sliding groove, the top frame is slidably mounted on the top of the bottom frame, and the moving rod is slidably mounted on the bottom of the bottom frame.

[0011] Preferably, a handle is fitted into the left end of the top of the top frame, and a wrist pull rope is fixedly connected to the bottom of the handle. The wrist pull rope is movably mounted on the outer surface of the detection wheel. A sliding cavity is provided inside the moving rod, and a sliding block is slidably mounted inside the sliding cavity. One end of the wrist pull rope is fixedly connected to the sliding block, and a support spring is movably sleeved on the outer surface of one end of the wrist pull rope. The support spring is located between the inner wall of the moving rod and the sliding block, and the wrist pull rope is movably sleeved on the left end of the moving rod.

[0012] Preferably, the grip includes a support handle, a hydraulic pipe is fixedly installed inside the support handle, a compression tube is fixedly installed on the top and side of the hydraulic pipe, a press button is movably sleeved on the outer surface of the compression tube, a support rod is fixedly installed inside the press button, a piston is fixedly installed at the bottom of the support rod, the piston is movably sleeved inside the compression tube, the press button is movably sleeved inside the support handle, and the support rod is movably sleeved inside the compression tube.

[0013] Preferably, the hydraulic pipe is filled with hydraulic oil, and a hydraulic sensor is fixedly connected to the bottom of the hydraulic pipe.

[0014] Preferably, there is one button on the top and four buttons on the sides.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. In this invention, the foot strength detection device, the fixation detection device and the force detection device are set to assist the patient's foot, leg and upper limb movement respectively. The multi-functional device is integrated to facilitate the patient's whole body movement and rehabilitation, and improve the function and performance of the device.

[0016] 2. In this invention, the display screen provides real-time feedback on the strength and degree of each of the patient's movements, and promptly reminds the patient of the posture and strength of the movements, which facilitates the standardization and normalization of each movement, improves the effect of the patient's limb movement, and thus improves the rehabilitation effect.

[0017] 3. By setting the grip, it is possible to detect the pressure of each finger of the patient, as well as the grip strength of the entire hand, and to detect the strength of the patient's ankle through the tension sensor, so that the patient can quickly understand his own condition. Attached Figure Description

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the support frame structure of the present invention; Figure 3 This is a schematic diagram of the foot strength detection device of the present invention; Figure 4 This is a schematic diagram of the fixed detection device structure of the present invention; Figure 5 This is an exploded view of the fixed detection device of the present invention; Figure 6 This is a schematic diagram of the force detection device of the present invention; Figure 7 This is a schematic diagram of the grip structure of the present invention.

[0019] In the diagram: 1. Support frame; 2. Foot force detection device; 3. Fixing detection device; 4. Force detection device; 11. Bottom frame; 12. Protective pad; 13. Fixing frame; 14. Display screen; 15. Headrest; 16. Sliding groove; 21. Foot frame; 22. Tension sensor; 23. Pull rod; 24. Limiting shaft; 25. Rotating frame; 26. Foot pedal; 27. Foot strap; 31. Side frame; 32. Fixing shell; 33. Rotating rod; 34. Connecting sleeve; 35. Fixing ring; 36. Velcro strap 37. First encoder; 38. Rotating shaft; 39. Fixed pull rope; 310. Positioning block; 311. Spiral spring; 41. Rotating block; 42. Moving rod; 43. Limiting rod; 44. Top frame; 45. Sliding block; 46. Handle; 47. Wrist pull rope; 48. Support spring; 49. Second encoder; 410. Detection wheel; 461. Support handle; 462. Hydraulic sensor; 463. Hydraulic pipe; 464. Press button; 465. Support rod; 466. Piston; 467. Extrusion tube. Detailed Implementation

[0020] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0021] Example 1, as Figures 1-3 As shown, a neurorehabilitation limb movement guidance device based on bioelectric signal feedback includes a support frame 1, a foot strength detection device 2 and a fixed detection device 3. The foot strength detection device 2 and the fixed detection device 3 are fixedly installed on the left side of the support frame 1. There are two foot strength detection devices 2 and two fixed detection devices 3. The two foot strength detection devices 2 are located on the left side of the two fixed detection devices 3. Force detection devices 4 are provided at both ends of the right side of the support frame 1. like Figure 3As shown, the foot force detection device 2 includes a foot frame 21, a tension sensor 22, and a rotating frame 25. The tension sensor 22 is rotatably mounted on the top of the foot frame 21. A limit shaft 24 is fixedly mounted on the right side of the top of the foot frame 21. The rotating frame 25 is rotatably mounted on the outer surface of the limit shaft 24. A pull rod 23 is fixedly connected to the top of the tension sensor 22. The top of the pull rod 23 is rotatably mounted to the top of the rotating frame 25. A foot pedal 26 is rotatably mounted on the lower end of the rotating frame 25. A foot strap 27 is fixedly connected to the side of the foot pedal 26.

[0022] By stepping on the foot pedal 26, the rotating frame 25 rotates around the limiting shaft 24. The top of the rotating frame 25 pulls the pull rod 23, causing the tension sensor 22 to generate tension. The tension sensor 22 is used to measure the force on the patient's foot.

[0023] like Figure 2 As shown, the support frame 1 includes a base frame 11 and a display screen 14. A motion sensing device is installed on the top of the display screen 14. A fixing frame 13 is fixedly installed on the left end of the top of the base frame 11. The display screen 14 is fixedly installed on the top of the fixing frame 13. A protective pad 12 is fixedly installed on the top of the base frame 11. A headrest 15 is fixedly installed on the right side of the top of the base frame 11. Sliding grooves 16 are provided at both ends of the right side of the base frame 11. A foot frame 21 is fixedly installed on the left side of the top of the base frame 11.

[0024] In this training system, the motion sensing device uses a Kinect sensor to collect images of the patient's limb movements. The Kinect sensor is connected to the skeletal tracking algorithm through an API interface to obtain the patient's limb position data in real time, and the time series of the patient's limb position is used as limb movement data.

[0025] Specifically, the Kinect motion-sensing device identifies human limbs and tracks their motion, thereby achieving real-time data acquisition. The spatial and depth resolution of the images recorded by the Kinect motion-sensing device is 640×480 pixels. The "Kinect for Windows Software Development Kit (SDK)" provides an application programming interface (API) for the Kinect hardware. The API implementation interfaces with the Kinect sensor and its skeletal tracking software, providing data on the main positions of the limbs (x, y, and z axes). This motion-sensing device is existing technology and will not be discussed in detail here.

[0026] The device on top of the display screen 14 is used to sense the patient's posture and determine the patient's general movements. The display screen 14 provides feedback on the patient's limb movements, making it easier for the patient to adjust their limbs.

[0027] The display screen 14 provides guidance and feedback on the degree and range of motion of the patient's limbs, thereby enabling the patient to quickly understand the extent of their limb movement and improving the effectiveness of the limb movement therapy.

[0028] Example 2, as Figure 1 , Figure 2 , Figure 5 and Figure 6 As shown, a neurorehabilitation limb movement guidance device based on bioelectric signal feedback includes a fixed detection device 3 comprising a side frame 31, a first encoder 37, and a fixed pull rope 39. The side frame 31 is fixedly installed on the top of the bottom frame 11 and located at both ends on the left side of the protective pad 12. A rotating rod 33 is rotatably installed inside the side frame 31. A fixed shell 32 is fixedly installed on the side of the rotating rod 33. A positioning block 310 is provided on one side of the fixed shell 32. A connecting sleeve 34 is fixedly connected to the side of the positioning block 310. Fixed rings 35 are provided on both sides of the lower end of the connecting sleeve 34. Velcro straps 36 are fixedly installed on both sides of the top of the connecting sleeve 34. The Velcro straps 36 are movably sleeved inside the fixed rings 35.

[0029] The right side of the fixed housing 32 is fixedly installed with the first encoder 37. The output end of the first encoder 37 is fixedly installed with a rotating shaft 38. A shaft wheel is fixedly sleeved on the outer surface of the rotating shaft 38. A fixed pull rope 39 is wound and connected to the outer surface of the shaft wheel. A spiral spring 311 is snapped and installed on the left side of the fixed housing 32. One end of the spiral spring 311 is embedded in one end of the rotating shaft 38. The other end of the fixed pull rope 39 is fixedly connected to the positioning block 310.

[0030] Using Velcro strap 36, the Velcro strap 36 is passed through the inside of the fixing ring 35, and the connecting sleeve 34 is tied to the patient's leg. At this time, the patient bends his leg, and the fixing shell 32 rotates around the rotating rod 33 on the side of the side frame 31. The tilt angle of the fixing shell 32 is detected by the spiral spring 311 to determine the patient's posture. For example, when the patient bends his leg, the fixing shell 32 is at an inclined angle, and the rotation shaft 38 is rotated by the stretching of the fixing rope 39. The stretching degree of the fixing rope 39 is detected by the first encoder 37 to determine the degree of bending of the patient's leg. When the patient raises his leg, the fixing shell 32 rotates to the upward direction, so that the fixing rope 39 is stretched vertically. The stretching degree of the fixing rope 39 is detected by the first encoder 37 to determine the height of the patient's leg raising.

[0031] Example 3, as Figure 1 , Figure 2 , Figure 6 and Figure 7As shown, a neurorehabilitation limb movement guidance device based on bioelectric signal feedback has two force detection devices 4. The two force detection devices 4 include a rotating block 41 and a handle 46. One end of the rotating block 41 is fixedly connected to a moving rod 42. The left end of the moving rod 42 is fixedly connected to a second encoder 49. The output end of the second encoder 49 is fixedly connected to a detection wheel 410. The detection wheel 410 is rotatably mounted on the left end of the moving rod 42. Limiting rods 43 are fixedly installed at both ends of the top of the moving rod 42. A top frame 44 is fixedly installed on the top of the limiting rods 43.

[0032] Among them, the rotating block 41 is rotatably installed on both sides of the right end of the bottom surface of the bottom frame 11, the limiting rod 43 is slidably installed inside the sliding groove 16, the top frame 44 is slidably installed on the top of the bottom frame 11, and the moving rod 42 is slidably installed on the bottom of the bottom frame 11.

[0033] Specifically, the patient places their arm on top of the top frame 44 and holds the handle 46. By pushing to both sides, the limiting rod 43 slides inside the sliding groove 16, and the patient's posture is sensed by the somatosensory device on top of the display screen 14, thus facilitating the patient's posture adjustment.

[0034] The handle 46 is embedded in the left end of the top of the top frame 44. The bottom of the handle 46 is fixedly connected to the wrist pull rope 47, which is movably installed on the outer surface of the detection wheel 410. The moving rod 42 has a sliding cavity inside, and a sliding block 45 is slidably installed inside the sliding cavity. One end of the wrist pull rope 47 is fixedly connected to the sliding block 45. A support spring 48 is movably sleeved on the outer surface of one end of the wrist pull rope 47. The support spring 48 is located between the inner wall of the moving rod 42 and the sliding block 45. The wrist pull rope 47 is movably sleeved on the left end of the moving rod 42.

[0035] Specifically, when the patient bends their arm, the grip 46 pulls the wrist tension cord 47, which in turn pulls the sliding block 45 to move to the left inside the moving rod 42, thereby compressing the support spring 48. At this time, as the wrist tension cord 47 moves, it pulls the detection wheel 410 to rotate, and the number of rotations of the detection wheel 410 is detected by the second encoder 49. The second encoder 49 is used to detect the degree of stretching of the grip 46 to determine the degree of bending of the patient's arm.

[0036] like Figure 6As shown, the grip 46 includes a support handle 461, a hydraulic pipe 463, and a push button 464. The hydraulic pipe 463 is fixedly installed inside the support handle 461. Extrusion tubes 467 are fixedly installed on the top and sides of the hydraulic pipe 463. The push button 464 is movably sleeved on the outer surface of the extrusion tube 467. A support rod 465 is fixedly installed inside the push button 464. A piston 466 is fixedly installed at the bottom of the support rod 465. The piston 466 is movably sleeved inside the extrusion tube 467. The push button 464 is movably sleeved inside the support handle 461. The support rod 465 is movably sleeved inside the extrusion tube 467.

[0037] The hydraulic pipe 463 is filled with hydraulic oil, and a hydraulic sensor 462 is fixedly connected to the bottom of the hydraulic pipe 463.

[0038] Specifically, the patient can manually press the button 464 to push the piston 466 to move inside the squeeze tube 467, thereby increasing the liquid pressure in the hydraulic tube 463. The hydraulic sensor 462 senses the hydraulic pressure inside the hydraulic tube 463 to determine the strength of a single finger. The patient can also test their grip strength by pressing the top of multiple buttons 464 simultaneously with multiple fingers.

[0039] There is one top button 464 and four side buttons 464.

[0040] The patient places their thumb on the top of the top button 464 and their four fingers on the four side buttons 464. The hydraulic sensor 462 detects the force of each finger and the entire finger, thus enabling an examination of the patient's hand.

[0041] It should be noted that the present invention is a neurorehabilitation limb movement guidance device based on bioelectric signal feedback. When in use, the patient lies on top of the protective pad 12, and the connecting sleeve 34 is fixed to the patient's leg by the fixing ring 35 and the Velcro strap 36, and the foot strap 27 is attached to the patient's foot. The patient places his arm on top of the top frame 44 and holds the outer surface of the handle 46. At this time, the electrodes on the functional electrical stimulation (FES) device are attached to the skin surface by conductive gel or adhesive. When the patient needs to move their feet, they step on the foot pedal 26, causing the rotating frame 25 to rotate around the limiting shaft 24. The top of the rotating frame 25 pulls the lever 23, causing the tension sensor 22 to generate tension. Through the action of the tension sensor 22, the force of the patient's foot is measured. The patient observes the force of stepping on the foot through the display screen 14 and adjusts the electrode power on the functional electrical stimulation (FES) device to help understand the degree of fit for the patient. When a patient needs to perform leg movements, they bend or lift their leg as the initial state. When the patient bends their leg, the fixing shell 32 is at an inclined angle, and the rotation shaft 38 rotates due to the stretching of the fixing rope 39. The first encoder 37 detects the degree of stretching of the fixing rope 39 to determine the degree of bending of the patient's leg. When the patient lifts their leg, the fixing shell 32 rotates to a vertical position, causing the fixing rope 39 to be stretched vertically. The first encoder 37 detects the degree of stretching of the fixing rope 39 to determine the height of the leg lift. The display screen 14 provides feedback on each leg movement. If the patient's movement is not in place, the display screen 14 will issue a warning to remind the patient to understand the degree of their limb movement and avoid improper posture during limb movements, which could lead to an unsatisfactory rehabilitation effect. The patient places their arm on top of the top frame 44 and holds the handle 46. By pushing to both sides, the limiting rod 43 slides inside the sliding groove 16. The patient's posture is sensed by the somatosensory device on top of the display screen 14, which facilitates the patient's posture adjustment. When the patient needs to move their leg, the grip 46 pulls the wrist cord 47, which in turn pulls the slider 45 to move to the left inside the moving rod 42, thereby compressing the support spring 48. At this time, when the wrist cord 47 moves, it will pull the detection wheel 410 to rotate, and the number of rotations of the detection wheel 410 will be detected by the second encoder 49. The degree of stretching of the grip 46 will be detected by the second encoder 49 to determine the degree of bending of the patient's arm. The patient can manually press the button 464 individually, causing the button 464 to push the piston 466 to move inside the compression tube 467, increasing the hydraulic pressure in the hydraulic tube 463. The hydraulic sensor 462 senses the hydraulic pressure inside the hydraulic tube 463 to determine the pressure of a single finger. By pressing the top of multiple buttons 464 simultaneously with multiple fingers, multiple pistons 466 can press the hydraulic tube 463 synchronously, increasing the pressure intensity inside the support handle 461, thereby detecting the patient's grip strength and completing the detection of the patient's arm strength and posture.

[0042] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A neurorehabilitation limb movement guidance device based on bioelectric signal feedback, comprising a support frame (1), characterized in that: A foot force detection device (2) and a fixed detection device (3) are fixedly installed on the left side of the support frame (1). There are two foot force detection devices (2) and two fixed detection devices (3). The two foot force detection devices (2) are located on the left side of the two fixed detection devices (3). Force detection devices (4) are provided at both ends of the right side of the support frame (1). The foot force detection device (2) includes a foot frame (21), a tension sensor (22) is rotatably mounted on the top of the foot frame (21), a limit shaft (24) is fixedly mounted on the right side of the top of the foot frame (21), a rotating frame (25) is rotatably mounted on the outer surface of the limit shaft (24), a pull rod (23) is fixedly connected to the top of the tension sensor (22), the top of the pull rod (23) is rotatably mounted to the top of the rotating frame (25), a foot pedal (26) is rotatably mounted on the lower end of the rotating frame (25), and a foot strap (27) is fixedly connected to the side of the foot pedal (26).

2. The neurorehabilitation limb movement guidance device based on bioelectric signal feedback according to claim 1, characterized in that: The support frame (1) includes a bottom frame (11), a fixed frame (13) is fixedly installed on the left end of the top of the bottom frame (11), a display screen (14) is fixedly installed on the top of the fixed frame (13), a somatosensory device is provided on the top of the display screen (14), a protective pad (12) is fixedly installed on the top of the bottom frame (11), a headrest (15) is fixedly installed on the right side of the top of the bottom frame (11), sliding grooves (16) are provided at both ends of the right side of the bottom frame (11), and the foot frame (21) is fixedly installed on the left side of the top of the bottom frame (11).

3. The neurorehabilitation limb movement guidance device based on bioelectric signal feedback according to claim 2, characterized in that: The fixed detection device (3) includes a side frame (31), which is fixedly installed on the top of the bottom frame (11) and located at both ends on the left side of the protective pad (12). A rotating rod (33) is rotatably installed inside the side frame (31). A fixed shell (32) is fixedly installed on the side of the rotating rod (33). A positioning block (310) is provided on one side of the fixed shell (32). A connecting sleeve (34) is fixedly connected to the side of the positioning block (310). A fixing ring (35) is provided on both sides of the lower end of the connecting sleeve (34). A Velcro strap (36) is fixedly installed on both sides of the top of the connecting sleeve (34). The Velcro strap (36) is movably sleeved inside the fixing ring (35).

4. The neurorehabilitation limb movement guidance device based on bioelectric signal feedback according to claim 3, characterized in that: A first encoder (37) is fixedly installed on the right side of the fixed housing (32). A rotating shaft (38) is fixedly installed at the output end of the first encoder (37). A shaft wheel is fixedly sleeved on the outer surface of the rotating shaft (38). A fixing pull rope (39) is wound around the outer surface of the shaft wheel. A spiral spring (311) is snapped onto the left side of the fixed housing (32). One end of the spiral spring (311) is embedded in one end of the rotating shaft (38). The other end of the fixing pull rope (39) is fixedly connected to the positioning block (310).

5. The neurorehabilitation limb movement guidance device based on bioelectric signal feedback according to claim 2, characterized in that: The number of force detection devices (4) is two. The two force detection devices (4) include a rotating block (41). One end of the rotating block (41) is fixedly connected to a moving rod (42). The left end of the moving rod (42) is fixedly connected to a second encoder (49). The output end of the second encoder (49) is fixedly connected to a detection wheel (410). The detection wheel (410) is rotatably installed on the left end of the moving rod (42). Both ends of the top of the moving rod (42) are fixedly installed with limit rods (43). The top of the limit rods (43) is fixedly installed with a top frame (44).

6. The neurorehabilitation limb movement guidance device based on bioelectric signal feedback according to claim 5, characterized in that: The rotating block (41) is rotatably installed on both sides of the bottom right end of the bottom surface of the bottom frame (11), the limiting rod (43) is slidably installed inside the sliding groove (16), the top frame (44) is slidably installed on the top of the bottom frame (11), and the moving rod (42) is slidably installed on the bottom of the bottom frame (11).

7. A neurorehabilitation limb movement guidance device based on bioelectric signal feedback according to claim 6, characterized in that: A handle (46) is fitted into the left end of the top of the top frame (44). A wrist pull rope (47) is fixedly connected to the bottom of the handle (46). The wrist pull rope (47) is movably installed on the outer surface of the detection wheel (410). A sliding cavity is opened inside the moving rod (42). A sliding block (45) is slidably installed inside the sliding cavity. One end of the wrist pull rope (47) is fixedly connected to the sliding block (45). A support spring (48) is movably sleeved on the outer surface of one end of the wrist pull rope (47). The support spring (48) is located between the inner wall of the moving rod (42) and the sliding block (45). The wrist pull rope (47) is movably sleeved on the left end of the moving rod (42).

8. The neurorehabilitation limb movement guidance device based on bioelectric signal feedback according to claim 7, characterized in that: The grip (46) includes a support handle (461), a hydraulic pipe (463) is fixedly installed inside the support handle (461), and a compression pipe (467) is fixedly installed on the top and side of the hydraulic pipe (463). A button (464) is movably sleeved on the outer surface of the compression pipe (467). A support rod (465) is fixedly installed inside the button (464). A piston (466) is fixedly installed at the bottom of the support rod (465). The piston (466) is movably sleeved inside the compression pipe (467). The button (464) is movably sleeved inside the support handle (461). The support rod (465) is movably sleeved inside the compression pipe (467).

9. A neurorehabilitation limb movement guidance device based on bioelectric signal feedback according to claim 8, characterized in that: The hydraulic pipe (463) is filled with hydraulic oil, and a hydraulic sensor (462) is fixedly connected to the bottom of the hydraulic pipe (463).

10. A neurorehabilitation limb movement guidance device based on bioelectric signal feedback according to claim 9, characterized in that: The number of the top push button (464) is one, and the number of the side push buttons (464) is four.

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