Exercise auxiliary device and auxiliary method

Abstract

The invention relates to the technical field of rehabilitation equipment, in particular to an exercise assisting device and method. The exercise assisting device comprises a scapula and a bandage assembly installed on the scapula; abduction mechanisms are mounted on the two sides of the upper portion of the scapula, and forward bending mechanisms are connected to the tail ends of the abduction mechanisms; a driving mechanism and a coupling mechanism are arranged between the scapula and the abduction mechanism, and a driving mechanism and a coupling mechanism are arranged between the abduction mechanism and the forward bending mechanism. When auxiliary exercise needs to be carried out, the coupling mechanism is kept to be switched to be connected with the driving mechanism, the driving mechanism is started and outputs power, the power is transmitted through the coupling mechanism in the connected state and drives the abduction mechanism or the anteflexion mechanism to move, and then the arms are driven by the mechanical arms to carry out regular abduction or anteflexion actions. The patient is helped to complete a rehabilitation training track; when active training needs to be carried out or only weak damping needs to be provided, the coupling mechanism and the driving mechanism are kept to be switched to the separation state, and the driving mechanism can stop running or idle.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation equipment technology, and in particular to an exercise assistive device and assistive method. Background Technology

[0002] With the increasing demand for medical rehabilitation, various limb rehabilitation assistive devices have been widely used. However, existing rehabilitation training equipment still has significant shortcomings in practical applications, mainly in terms of structural layout and functional modes.

[0003] In terms of structure, most existing rehabilitation equipment adopts a fixed large frame design, and its transmission mechanism and drive components are relatively bulky. This not only puts strict requirements on the spatial environment of the rehabilitation site, making it difficult to place in small wards or home environments, but also makes it difficult to move the equipment, which greatly limits the convenience and flexibility of use and cannot meet the rehabilitation needs in space-constrained scenarios.

[0004] In terms of functionality, existing technologies generally suffer from a lack of diverse exercise modes. Most current rehabilitation equipment can only provide one fixed form of exercise, typically relying solely on passive traction driven by a motor. This single passive mode ignores the stage-specific differences in the patient's rehabilitation process: passive assistance is needed in the early stages of rehabilitation, active lifting exercises are required during the muscle strength recovery period, and resistance training is needed in the later stages of recovery. Existing equipment cannot flexibly switch training modes according to the patient's muscle strength recovery, nor can it provide adjustable damping loads. This makes it difficult for patients to obtain a scientific and appropriate training intensity throughout the rehabilitation cycle, resulting in poor applicability and seriously affecting rehabilitation outcomes. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies, such as the inability to meet rehabilitation needs in space-constrained scenarios and the limited range of exercise modes, and to propose an exercise assistive device and method.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] The first aspect of the present invention provides an exercise assistive device, comprising:

[0008] Shoulder armor and strap assembly mounted on the shoulder armor;

[0009] An abduction mechanism is installed on both sides above the shoulder armor, and a flexion mechanism is connected to the tail end of the abduction mechanism.

[0010] A drive mechanism and a coupling mechanism are provided between the shoulder armor and the abduction mechanism, and between the abduction mechanism and the flexion mechanism.

[0011] The coupling mechanism is configured to have a connected state and a disconnected state; in the connected state, the coupling mechanism and the drive mechanism are electrically connected, and in the disconnected state, the coupling mechanism and the drive mechanism are electrically disconnected.

[0012] Furthermore, the outreach organization includes;

[0013] A connecting seat that is fixedly installed on the shoulder armor;

[0014] A mounting base is rotatably connected to the side of the connecting base, and the forward bending mechanism is rotatably connected to the mounting base.

[0015] Furthermore, the forward bending mechanism includes;

[0016] The main boom and the adjusting arm that is movably connected to the end of the main boom;

[0017] The main arm is equipped with a locking device for locking the adjusting arm, and a retaining sleeve is installed on the end face of both the main arm and the adjusting arm.

[0018] Furthermore, the drive mechanism includes;

[0019] A housing fixedly installed at the end of the main arm;

[0020] A geared motor is fixedly installed on the outside of the housing. The shaft end of the geared motor extends into the interior of the housing and is fixedly installed with a drive gear. A mounting part is formed at the end of the housing and is connected to the mounting base.

[0021] Furthermore, the coupling mechanism includes;

[0022] A shaft is mounted on the mounting base, the shaft and the mounting base are rotatably connected, a driven gear is rotatably connected to the outside of the shaft, an electromagnet is embedded at the end of the shaft, a connecting seat is slidably connected inside the driven gear, and a permanent magnet is magnetically connected to the electromagnet on the end face of the connecting seat.

[0023] Furthermore, a limiting ring is fixedly installed inside the mounting part, and a limiting pin is movably inserted into the outer side of the journal of the driven gear through a spring. A limiting groove adapted to the limiting pin is opened on the inner side of the limiting ring, and an electrical contact is provided at the edge of the limiting groove of the limiting ring.

[0024] Furthermore, a first toothed ring is fixedly installed at the end of the shaft, and a second toothed ring is fixedly installed on the end face of the connecting seat; when the electromagnet is energized in the first current direction, it attracts the permanent magnet to move, causing the first toothed ring and the second toothed ring to mesh, so that the coupling mechanism is in a connected state.

[0025] Furthermore, a guide groove is provided on the end face of the passive gear, and at least two limiting arms are fixedly provided at the bottom of the connecting seat, with the limiting arms slidably inserted into the guide groove.

[0026] The passive gear is equipped with a cover plate, and a tension spring is connected between the cover plate and the connecting seat. The tension spring is configured to generate a reset force when the electromagnet is de-energized, driving the first gear ring and the second gear ring to separate, so that the coupling mechanism is in a disengaged state.

[0027] Furthermore, the bottom end of the limiting arm passes through the driven gear, a friction block is fixedly installed at the end of the limiting arm, a friction ring is fixedly installed on the outer side of the shaft, and the friction block is directly opposite the end face of the friction ring.

[0028] A second aspect of the present invention provides an exercise-assisted method using the aforementioned device, specifically comprising the following steps:

[0029] S1: Wear the shoulder armor on the shoulder and secure it to the body using the strap assembly;

[0030] S2: Secure the arm to the forward flexion mechanism;

[0031] S3: When performing abduction exercises, control the drive mechanism and the coupling mechanism located between the shoulder armor and the abduction mechanism to work, so that the coupling mechanism is in a connected state, so that the abduction mechanism can drive the arm to swing up and down.

[0032] S4: When performing forward bending exercises, control the drive mechanism and the coupling mechanism located between the abduction mechanism and the forward bending mechanism to work, so that the coupling mechanism is in a connected state, so that the forward bending mechanism drives the arm to swing back and forth.

[0033] The beneficial effects of the exercise assist device and assist method proposed in this invention are as follows: When assistive exercise is required, the coupling mechanism is kept in the state of being connected to the drive mechanism. The drive mechanism starts and outputs power. The power is transmitted through the coupling mechanism in the connected state, driving the abduction mechanism or the flexion mechanism to move. Then, the robotic arm drives the arm to perform regular abduction or flexion movements, helping the patient complete the rehabilitation training trajectory.

[0034] When active training is required or only weak damping is needed, the coupling mechanism and the drive mechanism are kept in a separated state. The drive mechanism can stop or idle, while the abduction and flexion mechanisms are no longer subject to the forced constraint of the drive mechanism. In this state, the patient can use their residual muscle strength to drive the device to move for active training, or perform resistance training under the action of mechanical friction, thereby avoiding the passive resistance of the drive mechanism from interfering with the patient's voluntary movement and achieving a smooth switch of rehabilitation mode. Attached Figure Description

[0035] Figure 1 The three-dimensional representation of the present invention Figure 1 ;

[0036] Figure 2 The three-dimensional representation of the present invention Figure 2 ;

[0037] Figure 3 This is a schematic diagram of the outward extension mechanism of the present invention;

[0038] Figure 4 This is a schematic diagram of the forearm bending mechanism of the present invention;

[0039] Figure 5 This is a schematic diagram of the drive mechanism structure of the present invention;

[0040] Figure 6 This is a schematic diagram of the coupling mechanism structure of the present invention;

[0041] Figure 7 This is a schematic diagram of the passive gear structure of the present invention;

[0042] Figure 8 This is a schematic diagram of the shaft structure of the present invention;

[0043] Figure 9 This is a cross-sectional view of the mounting section of the present invention;

[0044] Figure 10 for Figure 9 A magnified structural diagram of area A.

[0045] In the diagram: 1. Shoulder armor; 2. Strap assembly; 3. Outward extension mechanism; 31. Connecting seat; 32. Mounting seat; 4. Forward bending mechanism; 41. Main arm; 42. Adjusting arm; 43. Locking element; 44. Strap; 5. Drive mechanism; 51. Housing; 52. Gear motor; 53. Drive gear; 54. Mounting part; 55. Limiting ring; 56. Limiting groove; 57. Electrical contact; 6. Coupling mechanism; 61. Shaft; 611. Friction ring; 62. Tension spring; 63. Driven gear; 631. Guide groove; 632. Spring; 633. Limiting pin; 64. Electromagnet; 65. Connecting seat; 651. Limiting arm; 652. Friction block; 66. Permanent magnet; 67. First toothed ring; 68. Second toothed ring; 69. Cover plate. Detailed Implementation

[0046] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0047] Reference Figure 1-10 As one embodiment of the present invention, an exercise assistive device is disclosed, mainly used for early postoperative limb rehabilitation training in stroke patients. It aims to assist patients in performing flexion and abduction movements of the affected arm, promoting nerve function reorganization and muscle strength recovery. (Refer to...) Figure 1 , Figure 2 This device mainly includes a shoulder armor 1 and a strap assembly 2 installed on the shoulder armor 1. Specifically, the shoulder armor 1 is designed as an ergonomic arc-shaped plate structure to fit the acromion and clavicle area of ​​the patient. In use, medical staff or family members of the patient use the strap assembly 2 to firmly fix the shoulder armor 1 to the patient's torso. Considering that stroke patients may have weakened trunk control after surgery, the strap assembly 2 adopts multi-point force distribution and is connected by buckles to ensure that the device will not shift during movement, thereby ensuring the accuracy of the training trajectory. Of course, the structural design of the strap assembly 2 is a conventional technical means for those skilled in the art, and will not be described in detail here.

[0048] An abduction mechanism 3 is installed on both sides above the shoulder armor 1. The tail end of the abduction mechanism 3 is connected to a flexion mechanism 4. The motion axis of the flexion mechanism 4 and the motion axis of the abduction mechanism 3 are arranged in a cross shape in space, corresponding to the two degrees of freedom of the human shoulder joint: flexion, extension, adduction, and abduction.

[0049] A drive mechanism 5 and a coupling mechanism 6 are provided between the shoulder armor 1 and the abduction mechanism 3, and between the abduction mechanism 3 and the flexion mechanism 4.

[0050] The coupling mechanism 6 is configured to have a connected state and a disconnected state; in the connected state, the coupling mechanism 6 and the drive mechanism 5 are electrically connected, and in the disconnected state, the coupling mechanism 6 and the drive mechanism 5 are electrically disconnected.

[0051] Specifically, in this invention, when assisted exercise is required, the coupling mechanism 6 is switched to the connection state with the drive mechanism 5. The drive mechanism 5 starts and outputs power. The power is transmitted through the coupling mechanism 6 in the connection state, driving the abduction mechanism 3 or the flexion mechanism 4 to move. Then, the robotic arm drives the arm to perform regular abduction or flexion movements, helping the patient complete the rehabilitation training trajectory.

[0052] When active training is required or only weak damping is needed, the coupling mechanism 6 and the drive mechanism 5 are switched to a separated state. The drive mechanism 5 can stop operating or idle, while the abduction mechanism 3 and the flexion mechanism 4 are no longer forcibly constrained by the drive mechanism 5. In this state, the patient can use their own residual muscle strength to drive the device to move and perform active training, or perform resistance training under the action of mechanical friction, thereby avoiding the passive resistance of the drive mechanism 5 from interfering with the patient's autonomous movement and achieving a smooth switch of rehabilitation mode.

[0053] Reference Figure 3 In some embodiments, the outreach mechanism 3 of the present invention includes;

[0054] A connecting seat 31 is fixedly installed on the shoulder armor 1. The connecting seat 31 serves as the fixed end base of the abduction mechanism 3 and is rigidly connected to the shoulder armor 1 by fasteners or welding to withstand the reaction force during the movement.

[0055] A mounting base 32 is rotatably connected to the side of the connecting base 31, and the forward bending mechanism 4 is rotatably connected to the mounting base 32.

[0056] Reference Figure 4 In an optional embodiment, the forward bending mechanism 4 of the present invention includes;

[0057] The main arm 41 and the adjusting arm 42 movably inserted into the end of the main arm 41 form a sliding pair between the main arm 41 and the adjusting arm 42, allowing them to move relative to each other along the axial direction, thereby changing the overall length of the bending mechanism 4.

[0058] The main arm 41 is provided with a locking member 43 for locking the adjusting arm 42. A sleeve 44 is installed on the end face of both the main arm 41 and the adjusting arm 42. In this embodiment, the sleeve 44 has a ring structure and is filled with a flexible cushioning material such as sponge. It is used to surround and fit the patient's arm and to firmly restrain the affected limb on the flexion mechanism 4.

[0059] Optionally, the locking member 43 described in this invention is a bolt, which can be used to lock and fix the position of the adjusting arm 42 after the length of the adjusting arm 42 is adjusted.

[0060] Specifically, in this embodiment, for stroke patients of different body types or arm lengths, the locking member 43 can be released and the adjusting arm 42 can be pulled axially to change the overlap length between the main arm 41 and the adjusting arm 42, thereby achieving stepless adjustment of the total length of the flexion mechanism 4, ensuring that the device is precisely matched with the size of the patient's limb. When the device is not in use, the adjusting arm 42 can be completely retracted into the main arm 41, significantly reducing the size of the device and making it easy to store and carry.

[0061] Preferably, in this embodiment, a handle can be slidably provided at the front end of the adjusting arm 42, providing a gripping fulcrum for the affected hand. During exercise, the patient's palm can grip the handle, which not only improves the convenience and comfort of the user's hand grip and enhances the sense of security; moreover, the action of gripping the handle itself can induce the grasping reflex of the affected hand, stimulate the nerve endings in the hand, help promote the recovery of fine hand function, and achieve the comprehensive rehabilitation effect of using the arm to exercise the hand.

[0062] The following describes the drive mechanism 5 and coupling mechanism 6 between the mounting base 32 and the bending mechanism 4 in detail. The drive mechanism 5 and coupling mechanism 6 between the extension mechanism 3 and the connecting base 31 can adopt the same structural design, so they will not be described in detail.

[0063] Reference Figure 5 , Figure 6 Based on the above embodiments, the driving mechanism 5 in this invention includes:

[0064] A housing 51 is fixedly installed at the end of the main arm 41;

[0065] A geared motor 52 is fixedly installed on the outside of the housing 51. The shaft end of the geared motor 52 extends into the interior of the housing 51 and is fixedly installed with a drive gear 53. A mounting part 54 is formed at the end of the housing 51 and is connected to the mounting base 32.

[0066] Specifically, the geared motor 52 in this embodiment of the invention includes a motor and a gearbox. The gearbox is a worm gear reducer to maintain self-locking. The mounting part 54 is a disc-shaped structure used to mount the driven gear 63 that cooperates with the driving gear 53. Its specific working principle will be described in detail later, and will not be elaborated here.

[0067] Reference Figure 6 , Figure 7 , Figure 8 Furthermore, the coupling mechanism 6 described in this embodiment of the invention includes;

[0068] A shaft 61 is mounted on the mounting base 32, and the shaft 61 and the mounting base 32 are rotatably connected. A driven gear 63 is rotatably connected to the outside of the shaft 61. An electromagnet 64 is embedded at the end of the shaft 61. A connecting seat 65 is slidably connected inside the driven gear 63. A permanent magnet 66 is magnetically connected to the electromagnet 64 on the end face of the connecting seat 65.

[0069] It should be specifically noted that the shaft 61 corresponding to the forward bending mechanism 4 in this invention is fixed on the mounting base 32, while the shaft 61 corresponding to the outward bending mechanism 3 is fixed to the mounting base 32 and rotatably connected to the connecting base 31, and its corresponding housing 51 is fixed to the side of the connecting base 31, thus forming a fixed driving position.

[0070] The working principle of this embodiment is based on the self-locking characteristics of the worm gear and the clutch control of electromagnetic coupling, as detailed below:

[0071] When forward bending exercises are required, the system controls the electromagnet 64 to be energized in the forward direction. At this time, the electromagnet 64 generates magnetic force, attracting the permanent magnet 66 on the connecting seat 65, causing the connecting seat 65 to slide towards the end of the shaft 61 and engage with it. Since the shaft 61 is fixed, when the connecting seat 65 is locked with the shaft 61, the connecting seat 65, along with the driven gear 63 connected to it, is forcibly fixed and cannot rotate.

[0072] At this time, the geared motor 52 starts, driving the drive gear 53 to rotate. Since the drive gear 53 is mounted on the housing 51, and the driven gear 63 meshing with it is locked and cannot rotate, according to the gear meshing principle, the drive gear 53 will be forced to revolve around the driven gear 63. The revolution of the drive gear 53 directly causes the housing 51 to rotate relative to the mounting base 32 and the shaft 61. Since the main arm 41 is fixed on the housing 51, the rotation of the housing 51 drives the main arm 41 and the arm to swing, thereby realizing the forward bend exercise.

[0073] Reference Figure 6Based on the above embodiments, in this invention, a limiting ring 55 is fixedly installed inside the mounting part 54, and a limiting pin 633 is movably inserted into the outer side of the journal of the driven gear 63 via a spring 632. A limiting groove 56 adapted to the limiting pin 633 is opened on the inner side of the limiting ring 55. An electrical contact 57 is provided on the edge of the limiting groove 56 of the limiting ring 55. When the mounting part 54 rotates to a specific angle relative to the driven gear 63, the limiting pin 633 will be engaged in the limiting groove 56, thereby playing a mechanical limiting role and restricting the rotation range of the main arm 41. Specifically, in this embodiment, the limiting ring 55 is provided with two electrical contacts 57 on both sides of the limiting groove, and these two electrical contacts 57 are electrically connected to the control system to form a detection circuit.

[0074] Specifically, in this embodiment of the invention, the linkage between mechanical limiting and electrical protection ensures safe use. When actively driven, the mounting part 54 rotates relative to the passive gear 63, causing the limiting pin 633 to engage in the limiting groove 56 of the limiting ring 55. The groove wall blocks the movement range physically. If the driving force is too large or an accidental impact occurs at the moment of limiting, the limiting pin 633 will break under shear force. At this time, the limiting pin 633, which has lost the constraint of the groove wall, will pop outward under the push of the spring 632.

[0075] The ejected pin simultaneously contacts the electrical contacts 57 located on both sides of the limit groove 56, activating the control circuit. Upon detecting this signal, the system immediately forces a power cut-off, stopping the motor and thus cutting off the power source in case of mechanical failure, preventing secondary damage caused by device malfunction.

[0076] Reference Figure 7 , Figure 8 Of course, in order to ensure the locking stability between the passive gear 63 and the shaft 61, a first toothed ring 67 is fixedly installed at the end of the shaft 61 in this embodiment, and a second toothed ring 68 is fixedly installed on the end face of the connecting seat 65. When the electromagnet 64 is energized in the first current direction, it attracts the permanent magnet 66 to move, driving the first toothed ring 67 to mesh with the second toothed ring 68, so that the coupling mechanism 6 is in a connected state.

[0077] Preferably, the first toothed ring 67 and the second toothed ring 68 described in this embodiment have the same structure, and both are designed with teeth formed on their opposite surfaces, preferably end face teeth. The first toothed ring 67 is fixed on the stationary shaft 61, and the second toothed ring 68 can move with the connecting seat 65.

[0078] When the electromagnet 64 is energized in the first current direction, it generates a magnetic field that attracts the permanent magnet 66 to move. The permanent magnet 66 drives the connecting seat 65 to move axially toward the first toothed ring 67, thereby causing the second toothed ring 68 to come into close contact with the first toothed ring 67, so that the teeth mesh together, and the coupling mechanism 6 is in a connected state.

[0079] Conversely, when the electromagnet 64 is not energized, the connecting seat 65 is reset under the action of the reset device. At this time, the teeth of the first toothed ring 67 and the second toothed ring 68 are separated, and the power transmission is cut off.

[0080] Reference Figure 7 Based on the above embodiments, in this embodiment of the invention, the passive gear 63 has a guide groove 631 on its end face, and the bottom of the connecting seat 65 is fixedly provided with at least two limiting arms 651, which are slidably inserted into the guide groove 631.

[0081] The passive gear 63 is equipped with a cover plate 69, and a tension spring 62 is connected between the cover plate 69 and the connecting seat 65. The tension spring 62 is configured to generate a reset force when the electromagnet 64 is de-energized, driving the first gear ring 67 and the second gear ring 68 to separate, so that the coupling mechanism 6 is in a disengaged state.

[0082] Specifically, in this embodiment, the electromagnet 64 loses its magnetic force when in the initial state or when power needs to be separated. At this time, the tension spring 62 installed between the cover plate 69 and the connecting seat 65 is stretched, releasing its stored elastic potential energy and generating a continuous reset force. This force pulls the connecting seat 65 to move away from the shaft 61, forcing the teeth of the first gear ring 67 and the second gear ring 68 to disengage, ensuring that the coupling mechanism 6 is reliably in a separated state, allowing the driven gear 63 to rotate freely.

[0083] During the movement of the connecting seat 65, the bottom limiting arm 651 slides within the guide groove 631 of the driven gear 63. Due to the limiting effect of the guide groove 631 on the limiting arm 651, the connecting seat 65 can only perform axial translational movement and cannot rotate relative to the gear. This design effectively prevents the connecting seat 65 from circumferentially deflecting or twisting under force, ensuring the coaxiality of the first gear ring 67 and the second gear ring 68 during engagement and disengagement, thereby improving the stability of power transmission and the smoothness of clutch operation.

[0084] Reference Figure 9 , Figure 10 It should be noted that, in this embodiment of the invention, the bottom end of the limiting arm 651 passes through the passive gear 63, a friction block 652 is fixedly installed at the end of the limiting arm 651, a friction ring 611 is fixedly installed on the outer side of the shaft 61, and the friction block 652 is directly opposite the end face of the friction ring 611.

[0085] During active exercise mode, a second-direction current is supplied to electromagnet 64. This reverse current causes electromagnet 64 to generate a reverse magnetic field, which interacts with permanent magnet 66, pushing permanent magnet 66 and connecting base 65 to move backward, i.e., away from the direction of the first toothed ring 67.

[0086] When the connecting seat 65 moves backward, it causes the limiting arm 651 to slide synchronously within the guide groove 631. Since the bottom end of the limiting arm 651 passes through the driven gear 63 and is equipped with a friction block 652, as the connecting seat 65 moves backward, the friction block 652 gradually approaches and eventually presses against the end face of the friction ring 611 on the outer side of the shaft 61. At this time, if the patient moves their arm, the rotation of the driven gear 63 will cause the friction block 652 to slide and rub against the end face of the friction ring 611, thereby generating a damping force.

[0087] By controlling the magnitude of the current flowing in the second direction, the rearward position of the connecting seat 65 can be precisely adjusted, thereby changing the clamping force of the friction block 652 on the friction ring 611. The smaller the current, the smaller the damping force; the larger the current, the larger the damping force. This adjustable damping design allows patients to obtain an appropriate resistance load based on their own muscle strength level during active exercise, thereby effectively improving the effect of rehabilitation exercises.

[0088] In summary, this invention cleverly achieves three targeted rehabilitation exercise modes by coordinating the different energizing states of the electromagnet 64 with the self-locking characteristics of the worm gear of the reduction motor 52. The detailed working principles of these three exercise methods are as follows:

[0089] I. Passive-Driven Exercise

[0090] In this state, a current in the first direction is applied to the electromagnet 64, which generates a strong magnetic force that attracts the permanent magnet 66, causing the connecting seat 65 to move forward and tightly mesh the first gear ring 67 with the second gear ring 68. At this time, the driven gear 63 is locked onto the fixed shaft 61. When the reduction motor 52 is started, the driving gear 53 revolves around the stationary driven gear 63, driving the housing 51 and the main arm 41 to move.

[0091] This state is suitable for the early rehabilitation stage when the patient's muscle strength is zero or extremely weak. The motor completely drives the affected limb to perform forward flexion movements without the patient having to exert any effort.

[0092] II. Resistance-free active training

[0093] In this state, electromagnet 64 is de-energized and loses its magnetic force. Tension spring 62 pulls connecting seat 65 back to its original position, separating the first gear ring 67 from the second gear ring 68. Simultaneously, friction block 652 disengages from friction ring 611. At this time, the driven gear 63 is in a free-spinning state without any mechanical damping. Utilizing the self-locking characteristic of the worm gear of reduction motor 52, the motor shaft remains stationary, thus providing a stable support base for the entire device, equivalent to a balanced counterweight support.

[0094] This state is suitable for patients who have some muscle strength and need to rely on their own strength to perform lifting exercises for the affected limb. The device eliminates the influence of gravity by supporting part of the weight, allowing patients to focus on the recovery of joint mobility.

[0095] III. Adjustable Damping Resistance Training

[0096] In this state, a second-direction current is applied to the electromagnet 64. The reverse current generates a reverse magnetic field, which pushes the permanent magnet 66 to move the connecting seat 65 backward against the tension of the spring 62. At this time, the first toothed ring 67 and the second toothed ring 68 remain separated, but the connecting seat 65 causes the friction block 652 to press against the end face of the friction ring 611. When the patient actively moves the main arm 41, the driven gear 63 rotates accordingly, and sliding friction is generated between the friction block 652 and the friction ring 611. By adjusting the current, the degree of pressing can be controlled, and the magnitude of the damping force can be linearly adjusted.

[0097] This state can be applied to the later stages of patient recovery, by applying adjustable resistance loads to simulate weight training and enhance muscle strength and endurance.

[0098] Furthermore, a second aspect of the present invention provides an exercise-assisted method using the aforementioned device, specifically comprising the following steps:

[0099] S1: Wear the shoulder armor 1 on the shoulder and secure it to the body using the strap assembly 2;

[0100] S2: Secure the arm to the forward bending mechanism 4;

[0101] S3: When performing abduction exercises, control the drive mechanism 5 and the coupling mechanism 6 located between the shoulder armor 1 and the abduction mechanism 3 to work, so that the coupling mechanism 6 is in a connected state, so that the arm can be driven to swing up and down through the abduction mechanism 3;

[0102] S4: When performing forward bending exercises, control the operation of the drive mechanism 5 and the coupling mechanism 6 located between the abduction mechanism 3 and the forward bending mechanism 4, so that the coupling mechanism 6 is in a connected state, so that the arm can be driven to swing back and forth through the forward bending mechanism 4.

[0103] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A training aid device, characterized in that, include: Shoulder armor (1) and strap assembly (2) mounted on shoulder armor (1); An abduction mechanism (3) is installed on both sides above the shoulder armor (1), and a flexion mechanism (4) is connected to the tail end of the abduction mechanism (3). Among them, a drive mechanism (5) and a coupling mechanism (6) are provided between the shoulder armor (1) and the abduction mechanism (3), and between the abduction mechanism (3) and the flexion mechanism (4). The coupling mechanism (6) is configured to have a connected state and a disconnected state; in the connected state, the coupling mechanism (6) and the drive mechanism (5) are poweredly connected, and in the disconnected state, the coupling mechanism (6) and the drive mechanism (5) are poweredly disconnected.

2. The exercise assistive device according to claim 1, characterized in that: The outreach organization (3) includes; A connecting seat (31) is fixedly installed on the shoulder armor (1); A mounting base (32) is rotatably connected to the side of the connecting base (31), and the forward bending mechanism (4) is rotatably connected to the mounting base (32).

3. The exercise assistive device according to claim 2, characterized in that: The forward bending mechanism (4) includes; The main arm (41) and the adjusting arm (42) that is movably inserted into the end of the main arm (41); The main arm (41) is provided with a locking member (43) for locking the adjusting arm (42), and a sleeve (44) is installed on the end face of both the main arm (41) and the adjusting arm (42).

4. The exercise assistive device according to claim 3, characterized in that: The drive mechanism (5) includes; A housing (51) is fixedly installed at the end of the main arm (41). A geared motor (52) is fixedly installed on the outside of the housing (51). The shaft end of the geared motor (52) extends into the inside of the housing (51) and is fixedly installed with a drive gear (53). A mounting part (54) is formed at the end of the housing (51) and the mounting part (54) is connected to the mounting base (32).

5. The exercise assistive device according to claim 4, characterized in that: The coupling mechanism (6) includes; A shaft (61) is mounted on the mounting base (32), the shaft (61) and the mounting base (32) are rotatably connected, a driven gear (63) is rotatably connected to the outside of the shaft (61), an electromagnet (64) is embedded at the end of the shaft (61), a connecting seat (65) is slidably connected inside the driven gear (63), and a permanent magnet (66) magnetically connected to the electromagnet (64) is on the end face of the connecting seat (65).

6. The exercise assistive device according to claim 5, characterized in that: A limiting ring (55) is fixedly installed inside the mounting part (54). A limiting pin (633) is movably inserted into the outer side of the journal of the driven gear (63) through a spring (632). A limiting groove (56) adapted to the limiting pin (633) is opened on the inner side of the limiting ring (55). An electrical contact (57) is provided on the edge of the limiting groove (56) of the limiting ring (55).

7. The exercise assistive device according to claim 5, characterized in that: A first toothed ring (67) is fixedly installed at the end of the shaft (61), and a second toothed ring (68) is fixedly installed on the end face of the connecting seat (65). When the electromagnet (64) is energized in the first current direction, it attracts the permanent magnet (66) to move, causing the first toothed ring (67) to mesh with the second toothed ring (68), so that the coupling mechanism (6) is in a connected state.

8. The exercise assistive device according to claim 7, characterized in that: The passive gear (63) has a guide groove (631) on its end face, and the bottom of the connecting seat (65) is fixedly provided with at least two limiting arms (651), which are slidably inserted into the guide groove (631). The passive gear (63) is equipped with a cover plate (69), and a tension spring (62) is connected between the cover plate (69) and the connecting seat (65). The tension spring (62) is configured to generate a reset force when the electromagnet (64) is de-energized, driving the first gear ring (67) and the second gear ring (68) to separate, so that the coupling mechanism (6) is in a separated state.

9. The exercise assistive device according to claim 8, characterized in that: The bottom end of the limiting arm (651) passes through the driven gear (63), and a friction block (652) is fixedly installed at the end of the limiting arm (651). A friction ring (611) is fixedly installed on the outside of the shaft (61), and the friction block (652) is directly opposite the end face of the friction ring (611).

10. A method for assisting exercise, using the device as described in any one of claims 1-9, characterized in that, Includes the following steps: S1: Wear the shoulder armor (1) on the shoulder and secure it to the body by means of the strap assembly (2); S2: Secure the arm to the forward bending mechanism (4); S3: When performing abduction exercises, control the drive mechanism (5) and the coupling mechanism (6) located between the shoulder armor (1) and the abduction mechanism (3) to work, so that the coupling mechanism (6) is in a connected state, so that the arm can be driven to swing up and down through the abduction mechanism (3); S4: When performing forward bending exercises, control the operation of the drive mechanism (5) and the coupling mechanism (6) located between the abduction mechanism (3) and the forward bending mechanism (4) so ​​that the coupling mechanism (6) is in a connected state, so that the arm can be driven to swing back and forth through the forward bending mechanism (4).

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