Anti-winding upper limb rotation rehabilitation mechanism and control method thereof

Abstract

The invention discloses an anti-winding upper limb rotation rehabilitation mechanism and a control method thereof, and belongs to the technical field of medical machinery. The rehabilitation mechanism comprises a crank rotating shaft, a main rotating shaft and a conductive slip ring. The inner ring of the conductive slip ring is fixed with the main rotating shaft and can rotate along with the shaft; the outer ring is fixed, the inner ring and the outer ring can rotate relatively like a bearing, and the inner ring and the outer ring are both provided with wiring positions. A signal wire of the sensor can penetrate through a wiring groove and a wire outlet hole in the crank rotating shaft and is connected to an inner ring wiring position of the conductive slip ring; after the signals are transmitted to the outer ring through the inner ring, the signals are output through the signal line of the outer ring, the situation that when the rotating shaft rotates, the signal line rotates along with rotation and is wound with a fixed line is avoided, and the problem of signal line winding in the rotating process is structurally solved. The force values of the left and right limbs are detected through the sensor, the difference value is calculated, output can be adjusted according to the force difference to control the main rotating shaft to rotate, and safety and accuracy of rehabilitation training are improved.

Description

Technical Field

[0001] This application relates to the field of medical rehabilitation technology, specifically to an anti-entanglement upper limb rotation rehabilitation mechanism and its control method. Background Technology

[0002] Upper and lower limb rehabilitation training equipment can maintain cardiovascular health, enhance muscle strength, increase joint flexibility, reduce stress and anxiety, and improve coordination and motor function. In addition, it can help patients control their weight.

[0003] Currently, for upper limb rehabilitation equipment and circular motion products, the arrangement of sensors on rotating components is often inadequate. This can cause the sensor signal wires to become tangled during rotation. This tangling stretches, compresses, or twists the copper core inside the signal wires, damaging their electrical properties (such as changes in resistance and capacitance). This results in errors in the sensor's output electrical signals (such as angle, torque, and pressure data), failing to accurately reflect the patient's movements or the equipment's status. Furthermore, the tangled signal wires exert additional tension or torque on the rotating shaft, which, over time, can wear down bearings, gears, and other mechanical components, accelerating mechanical wear and shortening the equipment's lifespan.

[0004] Furthermore, existing limb rehabilitation equipment for circular motion does not provide effective control methods, making it difficult to achieve personalized training based on the differences in rehabilitation levels between the left and right limbs. Summary of the Invention

[0005] One of the technical objectives of this application is to provide an anti-entanglement upper limb rotation rehabilitation mechanism to address the problem that the signal wires of sensors may become tangled due to rotation when the shaft of current upper and lower limb rehabilitation training equipment rotates.

[0006] Another technical objective of this application is to provide a control method for an anti-entanglement upper limb rotation rehabilitation mechanism, addressing the lack of an effective control method for circular motion products in the category of upper limb rehabilitation equipment, in order to achieve personalized training based on the differences in the rehabilitation levels of the left and right limbs.

[0007] To achieve the above technical objectives, the embodiments of this application adopt the following technical solutions.

[0008] In a first aspect, embodiments of this application provide an anti-entanglement upper limb rotation rehabilitation mechanism, comprising:

[0009] A crank shaft (101) is provided, in which a first sensor (2) and a second sensor (3) can be installed, and the crank shaft (101) is provided with a wiring groove (1013) and a wire outlet hole (1014).

[0010] The main shaft (12) is provided at the end of the main shaft (12) and is detachably mechanically connected to the main shaft (12);

[0011] The conductive slip ring (11) includes an inner ring and an outer ring that can rotate relative to each other. The inner ring is mechanically detachably connected to the main rotating shaft (12) and can rotate with it, while the outer ring is fixed. The signal lines of the first sensor (2) and the second sensor (3) can be connected to the inner ring of the conductive slip ring (11) through the wiring groove (1013) and the wire outlet hole (1014), and then output through the outer ring of the conductive slip ring (11).

[0012] Furthermore, the crankshaft (101) includes a first shaft body (1) and a second shaft body (4) connected to each other. The first shaft body (1) is provided with a first slot (1011) and a second slot (1012). The first sensor (2) and the second sensor (3) can be respectively embedded in the first slot (1011) and the second slot (1012).

[0013] Furthermore, the inner ring of the conductive slip ring (11) is provided with a mounting positioning hole (1101), and the main rotating shaft (12) is provided with a mounting hole (1201) at the corresponding position. The inner ring is fixed to the main rotating shaft (12) by fasteners passing through the mounting positioning hole (1101) and the mounting hole (1201).

[0014] Furthermore, the rehabilitation mechanism also includes a motor (10) and a reducer (18). A first bevel gear (16) is installed on the main shaft (12), and a second bevel gear (17) that meshes with the first bevel gear (16) is installed on the reducer (18) to transmit the driving force of the motor to the main shaft (12).

[0015] Furthermore, the rehabilitation mechanism also includes an angle sensor (14) on which a third bevel gear (19) is mounted. The third bevel gear (19) meshes with the first bevel gear (16) to detect the rotation angle of the main shaft (12) through the angle sensor (14).

[0016] Secondly, embodiments of this application provide a control method for an anti-entanglement upper limb rotation rehabilitation mechanism as provided in any possible implementation of the first aspect, comprising: the anti-entanglement upper limb rotation rehabilitation mechanism comprising:

[0017] Two crank shafts (101), each of which can house a first sensor (2) and a second sensor (3), and each crank shaft (101) has a wiring groove (1013) and a wire outlet hole (1014).

[0018] The main shaft (12) and the two crank shafts (101) are respectively located at the two ends of the main shaft (12) and are mechanically connected to the main shaft (12);

[0019] Two conductive slip rings (11) are provided corresponding to the two crank shafts (101); each of the two conductive slip rings (11) includes an inner ring and an outer ring that can rotate relative to each other. The inner ring is fixed to the main shaft (12) and can rotate with it, while the outer ring is fixed. The signal lines of the first sensor (2) and the second sensor (3) in the crank shaft (101) can be connected to the inner ring of the corresponding conductive slip ring (11) through the wiring groove (1013) and the wire outlet hole (1014), and then output through the outer ring of the corresponding conductive slip ring (11).

[0020] The control method includes:

[0021] The first force data F1 of the first sensor (2) and the second force data F2 of the second sensor (3) in the two crankshafts (101) are determined respectively. The absolute value of the force difference between the first force data F1 and the second force data F2 is calculated. The absolute value of the force difference is used as the corresponding force value of the crankshaft (101), which is the force value F on the left side. 左 and the force value F on the right side 右 ;

[0022] Determine the absolute difference |F| between the force values ​​of the two crankshafts (101). 左 -F 右 |;

[0023] Determine the absolute difference |F 左 -F 右 | The absolute difference between the absolute difference and the first preset value shall be such that when the absolute difference is greater than the first preset value, the rotation speed of the main shaft (12) shall be reduced, and when the absolute difference is less than or equal to the first preset value, the rotation speed of the main shaft (12) shall be increased.

[0024] Furthermore, the control method further includes: displaying the target object on a display device;

[0025] The force values ​​of the two crank shafts (101) are compared. If the force value of the left crank shaft (101) is greater than that of the right crank shaft (101), the target object is controlled to turn left. If the force value of the left crank shaft (101) is less than that of the right crank shaft (101), the target object is controlled to turn right. If the force value of the left crank shaft (101) is equal to that of the right crank shaft (101), the direction of the target object remains unchanged.

[0026] Furthermore, if the absolute difference is greater than the second preset value, it is represented as |F 左 -F 右 The second preset value determines that the patient's left and right arms have significantly different levels of recovery, so that the rotation frequency of the main shaft 12 is synchronized with the force of the limb with smaller force output, thereby achieving synchronized force between the left and right limbs.

[0027] Furthermore, the control method includes:

[0028] Calculate the average value of the first sensor 2 The average value of the second sensor 3 And calculate the absolute value of the difference between the two averages, expressed as: The absolute value of the difference between the averages With the third preset value F t In comparison, if Control motor 10 to not rotate; if Then proceed to the next step of processing to further determine if... If the result is not found, it is determined that the user has selected to use the upper limb active and passive rehabilitation device in a forward rotational manner; otherwise, it is determined that the user has selected to use the upper limb rotational rehabilitation device in a reverse rotational manner.

[0029] Furthermore, the upper limb rotation rehabilitation mechanism has three operating modes: passive mode, assisted mode, and active mode.

[0030] Compared with the prior art, the anti-entanglement upper limb rotation rehabilitation mechanism provided in this application has the following beneficial technical effects: the outer ring of the conductive slip ring is fixed, while the inner and outer rings can rotate relative to each other like a bearing. Furthermore, the inner ring of the conductive slip ring is fixed to the main rotating shaft and can rotate with the shaft. The sensor's signal line passes through the wiring groove and outlet hole inside the crank shaft and connects to the wiring terminal of the inner ring of the conductive slip ring. After the signal is transmitted from the inner ring to the outer ring, it is output by the signal line of the outer ring. The signal line rotates synchronously with the inner ring of the conductive slip ring and the main rotating shaft, while the outer ring and the connected external wiring remain fixed, preventing the signal line from entangled with the fixed wiring due to rotation during shaft rotation. This structurally solves the problem of signal line entanglement during rotation.

[0031] Compared with the prior art, the control method of the anti-entanglement upper limb rotation rehabilitation mechanism provided in this application embodiment has the following beneficial technical effects: by calculating the two force differences measured by two sensors, the absolute difference between the force values ​​on both sides is determined according to the force difference, thereby controlling the rotation of the main shaft, and judging the difference in the degree of rehabilitation of the left and right limbs by the absolute difference between the force values ​​on both sides, so as to realize personalized training. Attached Figure Description

[0032] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of this application in any way. Furthermore, the shapes and scales of the components in the drawings are merely illustrative to aid in understanding this application and do not specifically limit the shapes and scales of the components. Those skilled in the art, guided by the teachings of this application, can select various possible shapes and scales to implement this application according to specific circumstances. In the drawings:

[0033] Figure 1 The image is an isometric view of the upper and lower limb rehabilitation training device provided in the embodiment, wherein point I shows a schematic diagram of the anti-entanglement upper limb rotation rehabilitation mechanism;

[0034] Figure 2 for Figure 1 The obtained partial view at point I;

[0035] Figure 3 for Figure 1 A top view of the upper and lower limb rehabilitation training equipment shown;

[0036] Figure 4 for Figure 3 Enlarged view of point I in the middle;

[0037] Figure 5 for Figure 2 Exploded view of the crankshaft;

[0038] Figure 6 for Figure 5 Axonometric view of the crankshaft;

[0039] Figure 7 for Figure 2 Axonometric view of the central main shaft;

[0040] Figure 8 for Figure 4 Axonometric view of the central conductive slip ring;

[0041] Figure 9 This is a schematic diagram of the signal line routing;

[0042] Figure 10 for Figure 9 Enlarged view of section II;

[0043] Figure 11 A schematic diagram of a control method for an anti-entanglement upper limb rotation rehabilitation mechanism is provided in one embodiment;

[0044] Figure 12 A schematic diagram of a control method for an anti-entanglement upper limb rotation rehabilitation mechanism, provided for another embodiment;

[0045] Figure 13A schematic diagram of the active mode flow of a control method for an anti-entanglement upper limb rotation rehabilitation mechanism provided in this embodiment;

[0046] Figure 14 A schematic diagram of the passive mode control method for an anti-entanglement upper limb rotation rehabilitation mechanism provided in this embodiment;

[0047] Figure 15 A schematic diagram of the control method assist mode of an anti-entanglement upper limb rotation rehabilitation mechanism provided in this embodiment;

[0048] Figure 16 A schematic diagram of a control method for an anti-entanglement upper limb rotation rehabilitation mechanism, provided as another embodiment;

[0049] Reference numerals: 1. First rotating shaft body; 2. First sensor; 3. Second sensor; 4. Second rotating shaft body; 10. Motor; 11. Conductive slip ring; 12. Main rotating shaft; 13. Sheet metal part; 14. Angle sensor; 15. Bearing housing; 16. First bevel gear; 17. Second bevel gear; 18. Reducer; 19. Third bevel gear; 101. Crankshaft; 1011. First slot; 1012. Second slot; 1013. Wiring groove; 1014. Cable outlet hole; 1101. Mounting positioning hole; 1102. Mounting opening; 1201. Mounting hole. Detailed Implementation

[0050] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this application.

[0051] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more features.

[0052] To address the problem of sensor signal wires becoming entangled during rotation of the shaft in existing upper limb rotational rehabilitation mechanisms, this application provides an anti-entanglement upper limb rotational rehabilitation mechanism. For example... Figure 1 , Figure 2 and Figure 3As shown, the anti-entanglement upper limb rotation rehabilitation mechanism includes a crank shaft 101, a main shaft 12, and a conductive slip ring 11. The crank shaft 101 can house a first sensor 2 and a second sensor 3, and has a wiring groove 1013 and a wire outlet hole 1014. The crank shaft 101 is located at the end of the main shaft 12 and is detachably mechanically connected to it. The conductive slip ring 11 includes an inner ring and an outer ring that can rotate relative to each other. The inner ring is detachably mechanically connected to the main shaft 12 and can rotate with it, while the outer ring remains stationary. The crank shaft 101 is mechanically connected to the main shaft 12, and the signal lines of the first sensor 2 and the second sensor 3 can be connected to the inner ring of the conductive slip ring 11 via the wiring groove 1013 and the wire outlet hole 1014, and then output via the outer ring of the conductive slip ring 11. Figure 2 The bearing housing 15 shown is mainly used to support and fix the main shaft 12 to ensure its rotational stability.

[0053] In some embodiments, such as Figure 5 and Figure 6 As shown, the crankshaft 101 includes a first shaft body 1 and a second shaft body 4 connected to each other. The first shaft body 1 is provided with a first slot 1011 and a second slot 1012. The first sensor 2 and the second sensor 3 can be respectively embedded in the first slot 1011 and the second slot 1012.

[0054] In this embodiment, the first rotating shaft body 1 and the second rotating shaft body 4 can be connected by a socket joint. For example... Figure 6 As shown, the wiring groove 1013 can be a tortuous wiring groove.

[0055] In this embodiment, the first sensor 2 and the second sensor 3 can be tension and compression sensors, which are installed in their respective grooves. When the user rotates the upper limb rehabilitation device, the magnitude of the force can be detected, and the signal can be transmitted through the signal line.

[0056] In some embodiments, such as Figure 7 and Figure 8 As shown, the inner ring of the conductive slip ring 11 is provided with a mounting positioning hole 1101, and the main rotating shaft 12 is provided with a mounting hole 1201 at the corresponding position. The inner ring is fixed to the main rotating shaft 12 by fasteners passing through the mounting positioning hole 1101 and the mounting hole 1201.

[0057] In some embodiments, to fix the outer ring of the conductive slip ring 11, the outer ring of the conductive slip ring 11 is also provided with a mounting opening 1102, such as... Figure 8 As shown, the mounting opening 1102 can be an arched opening, connected to an external fixing structure via fasteners to keep the outer ring stationary. Both the inner and outer rings have connection points. In this embodiment, the external fixing structure can be as follows: Figure 4 Sheet metal part 13 shown.

[0058] In some embodiments, the main shaft 12 is as follows Figure 7 As shown, there are four mounting holes 1201 near each end, and each of these mounting holes 1201 is fitted with a conductive slip ring 11. Both ends of the main shaft 12 have crank shafts 101. The two conductive slip rings 11 are correspondingly set with the two crank shafts 101.

[0059] In this embodiment, after the signal lines of the first sensor 2 and the second sensor 3 in the crank shaft 101 pass through the wiring groove 1013 and the outlet hole 1014, the signal lines are connected to the insulating part between the conductive slip rings 11 after passing through the outlet hole 1014. The insulating part can be fixed to the surface of the corresponding main shaft 12 by insulating tape or cable ties.

[0060] In this embodiment, during installation, the conductive slip ring 11 allows the main rotating shaft 12 to pass through. Fasteners are installed in the mounting positioning hole 1101 (which may be a threaded hole) of the conductive slip ring 11, and it is then fixed to the mounting hole 1201 of the main rotating shaft 12. After the mounting positioning hole 1101 and the mounting hole 1201 coincide, they are secured with fasteners. After the main rotating shaft 12 is installed, the conductive slip ring 11... Figure 9 The inner ring of the conductive slip ring 11 is fixed to the main shaft 12, and rotates together with the main shaft 12. The outer ring of the conductive slip ring can be completely fixed through the arched mounting opening 1102 and fasteners, and will not rotate with the main shaft 12. The crank shaft and the main shaft are connected by a detachable mechanical connection, and the inner ring of the conductive slip ring is also detachably connected to the main shaft, which facilitates the installation, replacement and maintenance of components and reduces equipment maintenance costs.

[0061] The signal lines of the first sensor 2 and the second sensor 3 pass through the wiring groove 1013 of the crankshaft 101, and after passing through the wiring groove 1013, they are bent and pass through the outlet hole 1014. The position where the signal lines pass through is as follows: Figures 9 to 10 The signal wire is connected to the wiring position of the inner ring of the conductive slip ring 11 to achieve electrical connection with the inner ring. The signal is transmitted to the inner ring of the conductive slip ring 11 and then transmitted out through the outer ring of the conductive slip ring. The outer ring of the conductive slip ring 11 is fixed, while the inner ring rotates together with the main rotating shaft 12, thus avoiding the problem of signal wire tangling when using the upper limb rehabilitation system.

[0062] like Figure 4 and Figure 9As shown, in some embodiments, the rehabilitation mechanism further includes a motor 10 and a reducer 18. A first bevel gear 16 is mounted on the main shaft 12, and a second bevel gear 17 meshes with the first bevel gear 16 on the reducer 18, so as to transmit the driving force of the motor to the main shaft 12. The power output by the motor 10 is first transmitted to the reducer 18. After being reduced in speed by the reducer 18, the power of the motor 10 is transmitted to the main shaft 12 through the meshing of the second bevel gear mounted on the reducer 18 with the first bevel gear 16 on the main shaft 12, thereby driving the main shaft 12 and the connected crank shaft 101 to rotate.

[0063] In some embodiments, the rehabilitation mechanism also includes an angle sensor 14, on which a third bevel gear 19 is mounted. The third bevel gear 19 also meshes with the first bevel gear 16. When the main shaft 12 rotates, it can drive the angle sensor 14 to rotate, thereby using the angle sensor 14 to measure the rotation angle of the main shaft 12.

[0064] This application embodiment also provides a control method for the anti-entanglement upper limb rotation rehabilitation mechanism of the above embodiments, including the following steps: determining the first force data F1 of the first sensor 2 and the second force data F2 of the second sensor 3 in the two crank shafts 101 respectively, calculating the absolute value of the force difference between the first force data F1 and the second force data F2 |ΔF|=|F1-F2|, and using the absolute value of the force difference |ΔF|=|F1-F2| as the corresponding force value of the crank shaft 101;

[0065] Determine the absolute difference between the two |F 左 -F 右 |;Determine the absolute difference|F 左 -F 右 The rotation speed of the main shaft 12 is reduced when the absolute difference between the value and the first preset value (e.g., 5N) is greater than the first preset value, and increased when the absolute difference is less than or equal to the first preset value.

[0066] In this embodiment, the data collected by the first sensor 2, the second sensor 3, and the angle sensor 14 are transmitted to the conductive slip ring 11 via signal lines, and can finally be transmitted to a computer for processing and analysis.

[0067] In this embodiment, the conductive slip ring 11 can be a multi-channel design, containing multiple mutually insulated conductive paths (channels). The inner ring consists of multiple independent metal rings, each corresponding to one channel, isolated by insulating material; the outer ring is equipped with brushes (conductive contacts) corresponding to the metal rings, also separated by an insulating structure. Each channel independently transmits one signal, avoiding mutual interference.

[0068] In this embodiment, the first sensor 2 and the second sensor 3 are tension and compression sensors. When the tension and compression sensors are subjected to tension, the force value F collected is positive after being processed by the computer. When the tension and compression sensors are subjected to compression, the force value F collected is negative after being processed by the computer.

[0069] In this embodiment, when a patient applies force during training using a rehabilitation device including the anti-entanglement upper limb rotation rehabilitation mechanism provided in the above embodiment, the absolute value of the force difference between the force (F1) of the first sensor 2 and the force (F2) of the second sensor 3 (|ΔF|=|F1-F2|) is calculated to determine the patient's force condition. Based on the patient's force condition, the patient's training rotation speed can be calculated in conjunction with the angle sensor 14, thereby controlling the rotation speed and direction of the main shaft 12; or the user's training state can be determined, and protection or assistance can be provided to the user according to the different training modes selected by the user.

[0070] In some embodiments, the upper limb rotation rehabilitation device has three operating modes: passive mode, assisted mode, and active mode, which can select different training modes according to the different degrees of limb recovery of the user.

[0071] As an example, such as Figure 11 As shown, the training game logic using active and passive modes, such as the left and right turning of a bicycle, includes the following steps: displaying the target object on the display device; calculating the force difference based on the sensors within the crank shafts 101 at both ends of the main shaft 12, which are then used as the corresponding force values, expressed as follows:

[0072] Force value F on the left 左 F 左 =|ΔF 左 |=|F 左1 -F 左1 |;

[0073] Force value F on the right side 右 F 右 =|ΔF 右 |=|F 右1 -F 右1 |;

[0074] Compare the magnitudes of two forces. If the force on the left is greater than the force on the right (F... 左 >F 右 If the force on the left is less than the force on the right (F), then the target object will turn to the left; 左 <F 右 If the force on the left is equal to the force on the right (F), then the target object will turn to the right; 左 =F 右 If the direction of the target object is different, then the direction of the target object will be different.

[0075] This embodiment can compare the force values ​​of the left and right hands in real time, and control the corresponding game mechanism according to the force values ​​to achieve a more interesting and effective rehabilitation effect.

[0076] In some embodiments, when the upper limb rotation rehabilitation mechanism includes a motor 10, the control method further includes: determining the absolute difference between two forces on the left and right sides, |F|. 左 -F 右 The magnitude of |F and the first preset value (e.g., 5N) is such that when the absolute difference is greater than the first preset value (|F 左 -F 右 |>5N), reduce the output of motor 10 (i.e., reduce the rotational speed of main shaft 12), when the absolute difference is less than or equal to the first preset value (|F 左 -F 右 |≤5N), increase the output of motor 10 (i.e. increase the rotation speed of the main shaft) to protect the patient from accidents.

[0077] In some embodiments, force values ​​are calculated separately for the left limb (e.g., left hand) and the right limb (e.g., right hand), such as the force F for the left hand. 左 and the force F of the right hand 右 The absolute difference |F 左 -F 右 If the value is greater than the second preset value (e.g., 10N), it is represented as |F. 左 -F 右 If the value is greater than 10N, it is determined that the recovery levels of the patient's left and right arms are significantly inconsistent. The output of motor 10 is adjusted so that the rotation frequency of the main shaft 12 is equal to the force of the limb with less force, thereby achieving synchronous force between the left and right limbs. This allows the patient to gradually adapt to the recovery and rehabilitation standards by focusing on one limb and using the other unhealthy limb as a foundation, thus protecting the patient.

[0078] like Figure 12 As shown, the values ​​of the first sensor 2 (F1), the second sensor 3 (F2), and the angle sensor are calculated. And transmit it to the processor; calculate the average value of the first sensor 2. The average value of the second sensor 3 And calculate the absolute value of the difference between the two averages, expressed as: The absolute value of the difference between the averages With the third preset value (F) t (Can be set to 3N) for comparison, if The processor determines that the motor will not rotate due to the inert state caused by environmental disturbances and its own weight. If Then proceed to the next step of processing to further determine if... If the value is 3N, it indicates that the user has selected to use the upper limb active and passive rehabilitation device in a forward rotation; otherwise, it indicates that the user has selected to use the upper limb rehabilitation device in a reverse rotation. At the same time, the processor calculates the velocity ω of the angle sensor, plots the acceleration a, determines the patient's movement, and outputs the result to the limiting device (screen).

[0079] The flowchart for selecting active mode training in some embodiments is as follows: Figure 13 As shown, the active mode is set with a minimum angular velocity threshold ω during training. l The maximum force F allowed during training h The number of times the force is too large, r, and the maximum number of times the force is too large, r. t The initial value of r is 0. When the user selects the active mode for training, the angle sensor 14 records the angle change within a window time T, and calculates the average angular velocity excluding the window time. Set the training time T1 and the average angular velocity. Below the set minimum angular velocity ω l The system records the training time t. When the training time t is less than the set training time T1, if the user stops, a prompt encouraging the user to continue training appears, and the user can choose to continue or stop training. The computer records the training progress for this session. When the user's training time t exceeds the set training time T1, a reminder to the user to take a break appears on the screen, and the computer records the training progress for this session again. During training, if the force difference |ΔF| on at least one of the left and right sides exceeds the maximum allowable force F, the system will detect if the training progress is slow. h In such cases, the system will prompt the patient to reduce the amount of force applied, and record the number of times excessive force was applied, incrementing r by 1. When r equals r t The motor provides resistance to gradually slow down the speed, ensuring user safety and stopping the training session, while recording the training progress. The encouragement and reminder mechanisms in active mode motivate patients to persist with training while preventing overtraining, thus maximizing training effectiveness.

[0080] like Figure 14 The passive mode operation flow is defined by setting a threshold F for the maximum force during training. h and the minimum angular velocity threshold ω required for training l When the user selects passive mode, motor 10 starts slowly and moves the patient along with it via the transmission device. The computer calculates the absolute value |ΔF| of the force difference between the first sensor 2 and the second sensor 3. After training begins, if |ΔF| on at least one side is greater than the maximum force threshold F during training... h If the motor speed is reduced, motor 10 will be decelerated to protect user safety. After the speed is reduced, the angular velocity ω within the detection window is checked to see if it is less than the minimum angular velocity threshold required by the training. lIf the value is less than ω, it indicates that the training requirements have not been met, so training should be terminated and the training status recorded. If the value is greater than the minimum angular velocity threshold ω required for training... l If not, continue training until the training task is completed, and then record the training progress.

[0081] like Figure 15 To ensure the smooth operation of the assisted training mode, when the user selects the assisted training mode, the required force ΔF is set within the assisted training mode settings. t and the maximum allowable force difference ΔF during training h After the user begins training, the first sensor 2 and the second sensor 3 on both the left and right sides collect data, which is then transmitted to the processor for processing. The processor calculates the absolute value of the force difference, |ΔF|. If |ΔF| on the left or right side is less than ΔF... t The motor rotates to provide assistance, aiding the user in training; if the smaller of the absolute values ​​of the force differences between the left and right sides, |ΔF|, is greater than or equal to the set force F. t And the larger side is smaller than the maximum force F during training. h If the motor 10 does not provide assistance to the user during training, it will remain in operation until the user completes training. During user training, if the absolute value of the force difference from the sensor is too large, i.e., |ΔF| > ΔF... h The motor provides resistance, slowly reducing the low speed during training to protect the user's safety, and finally ending the training and recording the training results.

[0082] Figure 16 The control logic flowchart of the upper limb rotation rehabilitation mechanism is as follows: The patient applies force to the handle, and the first sensor 2 and the second sensor 3 respectively collect the force signal and calculate the force difference (ΔF) and the absolute value of the force difference (|ΔF|); the angle sensor 14 collects the angle of the rotation mechanism. And angular velocity (ω) signal.

[0083] 1. Signal processing: The tension-compression comparison circuit processes the force difference signal, the angular velocity comparison circuit processes the angular velocity signal, and the motion state detection module is associated with the operating status of the mechanism.

[0084] 2. Strategy Decision: The mode strategy module determines the motor output (± indicates forward / reverse rotation and power assistance / resistance adjustment) based on signals such as force difference and angular velocity, combined with the motion state.

[0085] 3. Execution control: The motor 10 receives the command and drives the main shaft 12 to rotate, realizing rehabilitation training. The angle sensor 14 continuously feeds back the signal, forming a closed-loop control to ensure that the training is accurate and adapted to the patient's condition.

[0086] The control method of the limb rotation rehabilitation mechanism provided in this application has different modes, which can adjust the training intensity and method according to the specific condition of the patient, thereby improving the safety and accuracy of rehabilitation training. The diverse modes, combined with gamified control logic (such as controlling the movement of the character on the screen based on the force difference), increase the fun and interactivity of the training, reduce the patient's resistance to rehabilitation training, and help the patient participate in the training more actively.

[0087] Among them, the passive mode is suitable for patients with weak limb mobility, the assisted mode is for patients with some independent mobility but insufficient strength, and the active mode is suitable for patients with good recovery. The training is completed entirely by the patient's own efforts, which can further improve muscle strength, joint flexibility and motor control.

[0088] The above provides a detailed description of an upper limb rotation rehabilitation mechanism and its control method. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the concept of this application and should not be construed as a limitation on the scope of protection of this application.

Claims

1. A tangle-free upper limb rotation rehabilitation mechanism, characterized in that, include: A crank shaft (101) is provided, in which a first sensor (2) and a second sensor (3) can be installed, and the crank shaft (101) is provided with a wiring groove (1013) and a wire outlet hole (1014). The main shaft (12) and the crank shaft (101) are located at the end of the main shaft (12) and are detachably mechanically connected to the main shaft (12); The conductive slip ring (11) includes an inner ring and an outer ring that can rotate relative to each other. The inner ring is mechanically detachably connected to the main rotating shaft (12) and can rotate with it, while the outer ring is fixed. The signal lines of the first sensor (2) and the second sensor (3) can be connected to the inner ring of the conductive slip ring (11) through the wiring groove (1013) and the wire outlet hole (1014), and then output through the outer ring of the conductive slip ring (11).

2. The anti-entanglement upper limb rotation rehabilitation mechanism according to claim 1, characterized in that, The crankshaft (101) includes a first shaft body (1) and a second shaft body (4) connected to each other. The first shaft body (1) is provided with a first slot (1011) and a second slot (1012). The first sensor (2) and the second sensor (3) can be respectively embedded in the first slot (1011) and the second slot (1012).

3. The anti-entanglement upper limb rotation rehabilitation mechanism according to claim 1, characterized in that, The inner ring of the conductive slip ring (11) is provided with a mounting positioning hole (1101), and the main rotating shaft (12) is provided with a mounting hole (1201) at the corresponding position. The inner ring is fixed to the main rotating shaft (12) by fasteners passing through the mounting positioning hole (1101) and the mounting hole (1201).

4. The anti-entanglement upper limb rotation rehabilitation mechanism according to claim 1, characterized in that, The rehabilitation mechanism also includes a motor (10) and a reducer (18). A first bevel gear (16) is installed on the main shaft (12), and a second bevel gear (17) that meshes with the first bevel gear (16) is installed on the reducer (18) to transmit the driving force of the motor to the main shaft (12).

5. The anti-entanglement upper limb rotation rehabilitation mechanism according to claim 4, characterized in that, The rehabilitation mechanism also includes an angle sensor (14), on which a third bevel gear (19) is mounted. The third bevel gear (19) meshes with the first bevel gear (16) to detect the rotation angle of the main shaft (12) through the angle sensor (14).

6. A control method for an anti-entanglement upper limb rotation rehabilitation mechanism, characterized in that, The anti-entanglement upper limb rotation rehabilitation mechanism includes: Two crank shafts (101), each of which can house a first sensor (2) and a second sensor (3), and the crank shafts (101) are provided with a wiring groove (1013) and a wire outlet hole (1014). The main shaft (12) and the two crank shafts (101) are respectively located at the two ends of the main shaft (12) and are detachably mechanically connected to the main shaft (12); Two conductive slip rings (11) are provided corresponding to the two crank shafts (101); each of the two conductive slip rings (11) includes an inner ring and an outer ring that can rotate relative to each other. The inner ring is mechanically detachably connected to the main shaft (12) and can rotate with it, while the outer ring is fixed. The signal lines of the first sensor (2) and the second sensor (3) in the crank shaft (101) can be connected to the inner ring of the corresponding conductive slip ring (11) through the wiring groove (1013) and the wire outlet hole (1014), and then output through the outer ring of the corresponding conductive slip ring (11). The control method includes: The first force data F1 of the first sensor (2) and the second force data F2 of the second sensor (3) in the two crankshafts (101) are determined respectively. The absolute value of the force difference between the first force data F1 and the second force data F2 is calculated. The absolute value of the force difference is used as the corresponding force value of the crankshaft (101), which is the force value F on the left side. 左 and the force value F on the right side 右 ; Determine the absolute difference |F| between the force values ​​of the two crankshafts (101). 左 -F 右 |; Determine the absolute difference |F 左 -F 右 | The absolute difference between the absolute difference and the first preset value shall be such that when the absolute difference is greater than the first preset value, the rotation speed of the main shaft (12) shall be reduced, and when the absolute difference is less than or equal to the first preset value, the rotation speed of the main shaft (12) shall be increased.

7. The control method for the anti-entanglement upper limb rotation rehabilitation mechanism according to claim 6, characterized in that, The control method further includes: Display the target object on the display device; The force values ​​of the two crank shafts (101) are compared. If the force value of the left crank shaft (101) is greater than that of the right crank shaft (101), the target object is controlled to turn left. If the force value of the left crank shaft (101) is less than that of the right crank shaft (101), the target object is controlled to turn right. If the force value of the left crank shaft (101) is equal to that of the right crank shaft (101), the direction of the target object remains unchanged.

8. The control method for the anti-entanglement upper limb rotation rehabilitation mechanism according to claim 6, characterized in that, If the absolute difference is greater than the second preset value, it is represented as |F 左 -F 右 The second preset value is used to determine that the patient's left and right arms have significantly different levels of recovery, so that the rotation frequency of the main axis (12) is the same as the force of the limb with smaller force output, thereby achieving synchronous force of the left and right limbs.

9. The control method for the anti-entanglement upper limb rotation rehabilitation mechanism according to claim 6, characterized in that, The control method includes: Calculate the average value of the first sensor (2) The average value of the second sensor (3) And calculate the absolute value of the difference between the two averages, expressed as: The absolute value of the difference between the averages With the third preset value F t In comparison, if Control motor (10) not to rotate; if Then proceed to the next step of processing to further determine if... If the result is not found, it is determined that the user has selected to use the upper limb active and passive rehabilitation device in a forward rotational manner; otherwise, it is determined that the user has selected to use the upper limb rotational rehabilitation device in a reverse rotational manner.

10. The control method for the anti-entanglement upper limb rotation rehabilitation mechanism according to claim 6, characterized in that, The upper limb rotation rehabilitation device has three operating modes: passive mode, assisted mode, and active mode.

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