An upper limb rehabilitation training device and a rehabilitation training control method thereof

Abstract

The application belongs to the technical field of medical rehabilitation apparatuses, and particularly discloses an upper limb rehabilitation training device and a rehabilitation training control method thereof. The upper limb rehabilitation training device comprises a rack, a posture adjusting mechanism, a horizontal adjusting mechanism and a supporting mechanism. The height of the rack is adjustable. The posture adjusting mechanism is installed on the rack. The horizontal adjusting mechanism is arranged between the rack and the posture adjusting mechanism and is used for driving the posture adjusting mechanism to move in the horizontal direction. The supporting mechanism is installed on the posture adjusting mechanism. The posture adjusting mechanism is used for driving the supporting mechanism to rotate in at least two degrees of freedom directions, so as to switch the training posture. The supporting mechanism comprises a swing support, a holding part and an executing mechanism. The swing support is driven by the posture adjusting mechanism to swing. The executing mechanism is arranged on the swing support and is drivingly connected with the holding part, and is used for driving the holding part to move in the plane. The upper limb rehabilitation training device provided by the application can adapt to different body conditions of users and realize the multi-posture training switching.

Description

Technical Field

[0001] This invention relates to the field of medical rehabilitation equipment technology, and in particular to an upper limb rehabilitation training device and its rehabilitation training control method. Background Technology

[0002] Upper limb rehabilitation training is an important means of restoring joint mobility and muscle coordination for patients with upper limb motor dysfunction caused by stroke, trauma, and neurological diseases. In clinical rehabilitation practice, patients usually need to complete repetitive joint movement exercises with the assistance of therapists to promote neurological remodeling and motor function recovery. To alleviate the dependence of manual rehabilitation training on the physical strength and experience of therapists, various mechanical rehabilitation training devices have been gradually introduced into clinical practice. These devices can assist patients in completing standardized rehabilitation movements by providing stable movement trajectories and controllable training intensity. Currently, most common upper limb rehabilitation training devices adopt a structure of fixed base combined with a support arm, using the movement of the support arm to drive the patient's upper limbs for training.

[0003] However, existing upper limb rehabilitation training equipment still has certain limitations in practical applications. On the one hand, due to significant differences in the height of different patients, it is difficult to precisely align the motion axis of the equipment with the center of rotation of the human joint, resulting in the patient's limb being subjected to undesirable additional torque during training, affecting the comfort and safety of the training. On the other hand, individual differences in the patient's arm length also lead to insufficient matching between the grip position and the equipment, making it difficult to ensure that the patient maintains the correct grip posture throughout the training process. In addition, the motion plane of the support arm of most devices is relatively fixed. When training the shoulder joint in different spatial directions is required, complex mechanical adjustments or reliance on multiple devices are often necessary, and the ease of operation and functional integration need to be improved. Summary of the Invention

[0004] This invention provides an upper limb rehabilitation training device and its rehabilitation training control method that can adapt to different users' physical conditions and realize multi-posture training switching.

[0005] To achieve the above objectives, the present invention also provides an upper limb rehabilitation training device, comprising: A frame, the height of which is adjustable; An attitude adjustment mechanism is mounted on the frame; A horizontal adjustment mechanism is disposed between the frame and the attitude adjustment mechanism, and is used to drive the attitude adjustment mechanism to move in the horizontal direction; A support mechanism, mounted on the posture adjustment mechanism, is used to drive the support mechanism to rotate in at least two degrees of freedom to switch training postures; the support mechanism includes: The swing support is rotatably connected to the attitude adjustment mechanism and is driven to swing by the attitude adjustment mechanism. The grip section is for the user to hold; An actuator is mounted on the swing support and driven to the grip part to drive the planar movement of the grip part, so as to adapt to the arm length of different users and enable active and passive training.

[0006] As an optional embodiment of the present invention, the attitude adjustment mechanism includes at least two rotating shafts, wherein the at least two rotating shafts are arranged perpendicularly to each other, and each rotating shaft is driven by an independent driving component.

[0007] As an optional embodiment of the present invention, the actuator includes a transmission member and a first driving member. The transmission member is disposed on the swing support, and the first driving member is drivenly connected to the transmission member. The gripping part is disposed on the transmission member and is capable of planar movement under the drive of the first driving member.

[0008] As an optional embodiment of the present invention, the transmission component includes a sprocket and a chain or a belt and a pulley that are connected in a transmission connection, the first driving component is a drive motor, and the gripping part is disposed on the chain or belt.

[0009] As an optional embodiment of the present invention, the transmission component is a linkage assembly, the first driving component is a linkage drive motor, the linkage assembly includes at least one linkage that is hinged to the swing support, the linkage drive motor is drivenly connected to the linkage assembly, and the gripping part is disposed on the linkage assembly.

[0010] As an optional embodiment of the present invention, the horizontal adjustment mechanism includes: Guide rails are mounted on the frame; A movable component is movably mounted on the guide rail and connected to the attitude adjustment mechanism; The second driving component is connected to the moving component and is used to drive the moving component to move along the guide rail plane.

[0011] As an optional embodiment of the present invention, a control system electrically connected to the attitude adjustment mechanism and the drive component in the actuator is further included, the control system being configured to: In passive or assisted training mode, the posture adjustment mechanism is controlled to drive the swing support to swing, so as to drive or assist the movement of the grip part through the swing support; and / or the grip part is directly driven or assisted through the actuator. In active training mode, the posture adjustment mechanism provides adjustable resistance to the user's active driving of the swing support, and / or the actuator provides adjustable resistance to the movement of the grip.

[0012] As an optional embodiment of the present invention, the frame includes a lifting drive component, the control system is electrically connected to the lifting drive component, and is configured to control the lifting drive component to drive the posture adjustment mechanism to move to a height aligned with the user's joint.

[0013] As an optional embodiment of the present invention, the control system is further configured to: In the active training mode, the magnitude of the resistance is adjusted according to the preset damping parameters, and when no external force is applied to the grip, the posture adjustment mechanism is controlled to maintain the position of the swing support or be switched to the passive training mode. In the passive or assisted training mode, the posture adjustment mechanism is controlled to drive the swing support movement according to preset motion parameters, and / or the actuator is controlled to drive the gripping part movement according to preset motion parameters, wherein the motion parameters include at least one of motion speed, motion angle range and torque.

[0014] The present invention also provides a rehabilitation training control method, applied to the aforementioned upper limb rehabilitation training device, the method comprising: According to the preset rehabilitation training movement type, the posture adjustment mechanism is controlled to drive the support mechanism to rotate, so that the swing support switches to the training posture corresponding to the training movement type. Control the frame to move and drive the swing support to rise and fall until the swing center of the swing support is aligned with the user's target training joint position; Control the actuator to move the grip to a position that matches the user's arm length; The rehabilitation training process is performed in the training posture, and the process includes: In passive training mode, the posture adjustment mechanism is controlled to drive the swing support to swing according to preset motion parameters to drive the grip part to move; and / or the grip part is driven to move through the actuator. In active training mode, the posture adjustment mechanism provides adjustable resistance to the user's movement of the swing support, and when no external force is applied to the grip, the posture adjustment mechanism maintains the current position of the swing support or switches to passive training mode; and / or the actuator provides adjustable resistance to the movement of the grip. After the rehabilitation training is completed, the posture adjustment mechanism and / or the actuator are reset to their initial state.

[0015] The beneficial effects of the present invention: The upper limb rehabilitation training device proposed in this invention, by setting a height-adjustable frame, allows the rotation axis of the swing support to be adjusted according to the user's height, ensuring precise alignment with the rotation center of the human joint, effectively avoiding undesirable torque caused by axis deviation, and improving the comfort and safety of training.

[0016] By setting a horizontal adjustment mechanism between the frame and the posture adjustment mechanism, the posture adjustment mechanism and the support mechanism can be driven to move horizontally as a whole. This allows the horizontal position of the training mechanism to be adjusted according to different training movements (such as adduction and abduction) or the user's body position, achieving precise alignment without the user having to move their body. This further enhances the clinical adaptability and ease of operation of the device.

[0017] By setting a posture adjustment mechanism on the frame and driving the support mechanism to rotate in at least two degrees of freedom, the spatial orientation of the swing support can be switched according to different rehabilitation training movements. This allows the same support mechanism to complete shoulder joint training movements in different planes, improving the functional integration of the equipment and the diversity of training movements.

[0018] By setting an actuator on the swing support, the position of the grip can be independently adjusted. The grip can be adjusted to a suitable position according to the arm length of different users, so that patients can maintain the correct grip posture even when the forearm length changes, further enhancing the adaptability of the device to patients with different physical conditions.

[0019] By coordinating the frame, horizontal adjustment mechanism, posture adjustment mechanism, and execution mechanism, a complete functional chain is formed, from overall alignment (height and horizontal adjustment) to posture switching (at least two rotational degrees of freedom) and then to personalized adaptation (arm length adjustment). Simultaneously, the independent reciprocating motion of the execution mechanism enables elbow flexion and extension training. This device can simultaneously meet the needs of users with different heights, arm lengths, rehabilitation movements, and training stages with a single structure, possessing high adaptability, multifunctionality, and safety, overcoming the technical shortcomings of existing equipment such as poor adaptability and limited training postures. Attached Figure Description

[0020] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0021] In the attached diagram: Figure 1This is a schematic diagram of the overall structure of an upper limb rehabilitation training device provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the upper structure of an upper limb rehabilitation training device provided in one embodiment of the present invention; Figure 3 This is a schematic diagram of the attitude adjustment mechanism provided in one embodiment of the present invention; Figure 4 This is a schematic diagram of the horizontal adjustment mechanism provided in one embodiment of the present invention; Figure 5 This is a schematic diagram of the support mechanism provided in one embodiment of the present invention; Figure 6 This is a schematic diagram of a rack structure provided in one embodiment of the present invention; Figure 7 This is a schematic diagram of the upper limb rehabilitation training device provided in another embodiment of the present invention; Figure 8 This is a schematic diagram of the upper structure of an upper limb rehabilitation training device provided in another embodiment of the present invention; Figure 9 (Chain drive) and Figure 12 (Linkage transmission) is an initial state diagram of an embodiment of the present invention, which also corresponds to the state of training action two and training action four; Figure 10 (Chain drive) and Figure 13 (Linkage transmission) is a state diagram of training action one in the example; Figure 11 (Chain drive) and Figure 14 (Linkage transmission) is a state diagram for training action three in the example; Figure 15 The diagram shows the limb state in the training action of the present invention, and the corresponding state diagram of the upper limb rehabilitation training device is as follows. Figure 10 or Figure 13 ; Figure 16 The diagram shows the limb state in the second training action of this invention, and the corresponding state diagram of the upper limb rehabilitation training device is as follows. Figure 9 or Figure 12 ; Figure 17 The diagram shows the limb state in the third training movement involved in this invention, and the corresponding state diagram of the upper limb rehabilitation training device is as follows. Figure 11 or Figure 14 ; The reference numerals in the attached drawings are as follows: frame 1, fixed base 11, lifting drive component 12, upper platform 13, attitude adjustment mechanism 2, vertical drive component 21, horizontal drive component 22, longitudinal drive component 23, first base 24, second base 25, support mechanism 3, swing support 31, gripping part 32, actuator 33, transmission component 331, chain 3311, connecting rod 3312, first drive component 332, chain drive motor 3321, connecting rod drive motor 3322, horizontal adjustment mechanism 4, guide rail 41, rack 411, moving component 42, gear 421, second drive component 43. Detailed Implementation

[0022] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0023] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. The drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0024] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the invention.

[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0026] The upper limb joints, including the shoulder, elbow, and wrist joints, are important functional joints for grasping, pushing, pulling, and large-range movements of the upper limbs. They have a high degree of freedom of movement, complex structure, and rely heavily on the coordinated control of muscles, ligaments, and the nervous system. When joint function is limited due to trauma, postoperative recovery, or neurological diseases, systematic rehabilitation training is usually required to gradually restore joint mobility and motor coordination.

[0027] To address the problem that existing upper limb rehabilitation training equipment is difficult to adapt to the differences in height and arm length among patients, and the training posture is limited, this invention provides an upper limb rehabilitation training device that can achieve height adjustment, arm length adaptation, and multiple posture switching.

[0028] like Figure 1-6 As shown, the present invention provides an upper limb rehabilitation training device, including a frame 1, a posture adjustment mechanism 2, a horizontal adjustment mechanism 4, and a support mechanism 3; the height of the frame 1 is adjustable; the horizontal adjustment mechanism 4 is disposed between the frame 1 and the posture adjustment mechanism 2, and is used to drive the posture adjustment mechanism 2 to move in the horizontal direction; the posture adjustment mechanism 2 is mounted on the frame 1; the support mechanism 3 is mounted on the posture adjustment mechanism 2, and the posture adjustment mechanism 2 is used to drive the support mechanism 3 to rotate in at least two degrees of freedom to switch training postures; the support mechanism 3 includes a swing support 31, a grip part 32, and an actuator 33, the swing support 31 is rotatably connected to the posture adjustment mechanism 2 and is driven by the posture adjustment mechanism 2 to swing, the grip part 32 is used for the user to grip, and the actuator 33 is disposed on the swing support 31 and drivenly connected to the grip part 32, and is used to drive the grip part 32 to move in a plane to adapt to the arm length of different users and to perform active and passive training.

[0029] like Figure 6 As shown, the frame 1 serves as the supporting foundation for the entire device, and its height is adjustable. Specifically, the frame 1 includes a fixed base 11 and a lifting drive component 12. The lifting drive component 12 is mounted on the fixed base 11, and its output end is fixedly connected to the horizontal adjustment mechanism 4. The lifting drive component 12 can be an electric push rod, a cylinder, a hydraulic cylinder, or a screw and nut mechanism. It drives the horizontal adjustment mechanism 4, the posture adjustment mechanism 2, and the support mechanism 3 to rise and fall vertically through telescopic movement, thereby adjusting the height of the rotation axis of the swing support 31 so that it is aligned with the rotation center of the user's shoulder or elbow joint. This embodiment does not limit the specific type of the lifting drive component 12, as long as it can achieve linear drive in the vertical direction.

[0030] like Figure 1 and Figure 4As shown, the horizontal adjustment mechanism 4 is located between the frame 1 and the posture adjustment mechanism 2. The horizontal adjustment mechanism 4 drives the posture adjustment mechanism 2 to move horizontally, thereby adjusting the positions of the posture adjustment mechanism 2 and the support mechanism 3 in the horizontal plane. For example, during horizontal plane movement training (arms opening and closing in front of the body), the support mechanism 3 needs to be moved to one side of the body so that the swing plane of the swing support 31 is consistent with the natural movement plane of the arm. Through the horizontal adjustment mechanism 4, the user can adjust the horizontal position of the training mechanism without moving their body, improving the device's adaptability to users of different body types and different training movements.

[0031] like Figure 3 As shown, the attitude adjustment mechanism 2 is mounted on the frame 1. Specifically, the output end of the lifting drive component 12 of the frame 1 is fixedly connected to the fixed end of the horizontal adjustment mechanism 4, and the moving component 42 of the horizontal adjustment mechanism 4 is fixedly connected to the bottom of the attitude adjustment mechanism 2. Therefore, the attitude adjustment mechanism 2 is indirectly mounted on the frame 1 through the horizontal adjustment mechanism 4, and can move up and down with the lifting drive component 12, and also move left and right with the horizontal adjustment mechanism 4. The attitude adjustment mechanism 2 is used to drive the support mechanism 3 to rotate in at least two degrees of freedom. The attitude adjustment mechanism 2 can be constructed as a multi-axis rotation platform, which includes at least two sequentially connected rotation axes, each of which is driven by an independent drive component. The spatial orientation of the support mechanism 3 is changed through the coordinated rotation of each rotation axis. When the posture adjustment mechanism 2 includes two rotation axes that are perpendicular to each other, it can achieve two degrees of freedom of rotation, enabling the switching between training movements such as sagittal plane motion (arm swinging back and forth close to the side of the body) and horizontal plane motion (arm opening and closing left and right in front of the body). When it includes three rotation axes that are perpendicular to each other, it can achieve three degrees of freedom of rotation, enabling more complex spatial posture switching. For example, when training sagittal plane motion, the posture adjustment mechanism 2 can adjust the support mechanism 3 to a posture where it swings back and forth on the side of the body; when training horizontal plane motion, it can adjust the support mechanism 3 to a posture where it opens and closes left and right in front of the body. The driving component of the posture adjustment mechanism 2 can be a servo motor, a stepper motor, or a hydraulic motor; this embodiment does not limit this.

[0032] like Figure 1 and Figure 5As shown, the support mechanism 3 is mounted on the posture adjustment mechanism 2 and is used to interact with the user's upper limbs and provide movement support. The swing support 31, as a skeletal component of the support mechanism 3, is rotatably connected at one end to the posture adjustment mechanism 2 and can swing around the connection point. The swing support 31 can be a hollow or solid rod-like structure, made of materials with certain strength and rigidity such as aluminum alloy, stainless steel, or carbon fiber composite materials to ensure it does not deform when bearing the weight of the user's upper limbs and training load. The swinging motion of the swing support 31 is driven by the posture adjustment mechanism 2; that is, the posture adjustment mechanism 2 outputs power to make the swing support 31 swing back and forth around its rotational connection point, thus driving the user's upper limbs to complete rehabilitation training movements.

[0033] like Figure 1 and Figure 5 As shown, the grip portion 32 is mounted on the swing support 31 for the user to hold. The grip portion 32 can be a handle, grip ring, or contoured grip, and its surface can be covered with flexible materials such as rubber or silicone to improve grip comfort and anti-slip properties. The grip portion 32 is connected to the actuator 33 and can move along the plane of the swing support 31 under the drive of the actuator 33. Here, planar movement refers to the grip portion 32 making a linear reciprocating motion along the length of the swing support 31 within the plane defined by the swing support 31. Its trajectory is a straight line or a near-linear oscillation within the plane of the swing support 31. This movement is guided by the transmission component 331 (chain or linkage) of the actuator 33, used to adjust the position of the grip portion 32 to accommodate different arm lengths, or to drive the grip portion 32 to reciprocate during training to drive the forearm to complete elbow flexion and extension (forearm bending and extending relative to the upper arm).

[0034] like Figure 1 and Figure 5 As shown, the actuator 33 is mounted on the swing support 31 and is driven to connect with the grip 32. The actuator 33 drives the grip 32 to move in a planar manner, changing the position of the grip 32 relative to the swing support 31 to accommodate different users' arm lengths. The actuator 33 includes a transmission member 331 and a first drive member 332. The transmission member 331 is mounted on the swing support 31, and the first drive member 332 is driven to connect with the transmission member 331. The grip 32 is mounted on the transmission member 331. The first drive member 332 can be a motor, which drives the transmission member 331 to move, thereby causing the grip 32 to move along the plane of the swing support 31. For example, the transmission component 331 can be a chain 3311, and the first driving component 332 can be a chain drive motor 3321. The chain drive motor 3321 is connected to the chain 3311 via a sprocket. The gripping part 32 is fixedly connected to the chain 3311. When the chain drive motor 3321 rotates, the chain 3311 drives the gripping part 32 to move along the plane of the swing support 31. As another example... Figure 9-10As shown, the transmission component 331 can be a linkage assembly, the first driving component 332 is a linkage drive motor 3322, the linkage assembly includes at least one linkage 3312 that is hinged to the swing support 31, the linkage drive motor 3322 is driven to the linkage assembly, the grip part 32 is disposed on the linkage assembly, and the linkage assembly is driven to move by the rotation of the linkage drive motor 3322, thereby changing the position of the grip part 32.

[0035] When using this device, firstly, the rotation axis of the swing support 31 is adjusted to align with the user's shoulder or elbow joint using the height adjustment function of the frame 1, based on the user's height. Then, based on the user's arm length, the gripping part 32 is driven to move in a planar motion to a suitable position via the actuator 33. Next, according to the required training movement type, the support mechanism 3 is driven to rotate in at least two degrees of freedom via the posture adjustment mechanism 2, switching the swing support 31 to the corresponding training posture. Finally, in the selected posture, the swing support 31 is driven to swing via the posture adjustment mechanism 2, facilitating rehabilitation training of the user's upper limbs. Through the above structure, the device can adapt to users of different heights and arm lengths and can flexibly switch between multiple training postures, meeting the rehabilitation training needs of multiple joints and multiple modes, such as training movement one (horizontal plane movement), training movement two (frontal plane movement training), training movement three (sagittal plane movement), and training movement four (elbow flexion and extension).

[0036] like Figure 1 and Figure 3 As shown in the figure, in a preferred embodiment, the posture adjustment mechanism 2 includes at least two rotation axes, wherein the at least two rotation axes are arranged perpendicularly to each other, and each rotation axis is driven by an independent drive component. In this embodiment, the figure shows a structure with three rotation axes (vertical drive component 21, horizontal drive component 22, and longitudinal drive component 23) that are perpendicular to each other in pairs. This is a preferred implementation with three degrees of freedom. When only two degrees of freedom are needed, one rotation axis can be omitted (for example, the longitudinal drive component 23 can be omitted), and only the two mutually perpendicular rotation axes can be retained. This can still achieve posture switching in the plane and complete the switching of basic training postures such as sagittal plane movement (arm swinging back and forth with the arm close to the side of the body) and horizontal plane movement (arm opening and closing left and right in front of the body).

[0037] When the posture adjustment mechanism 2 uses three rotating axes, each perpendicular to the other, the three rotating axes are arranged orthogonally in space, forming a structure similar to a universal joint, enabling the support mechanism 3 to be adjusted to any orientation in three-dimensional space. Each rotating axis is driven by an independent drive component, such as a servo motor. By controlling the rotation angle of each motor, the support mechanism 3 can be precisely oriented to the desired training posture. The three rotating axes can be connected in series, with the output end of the first rotating axis connected to the first base 24 of the second rotating axis, the output end of the second rotating axis connected to the second base 25 of the third rotating axis, and the output end of the third rotating axis connected to the support mechanism 3. This structure allows the support mechanism 3 to rotate around three mutually perpendicular axes, obtaining three rotational degrees of freedom. When the posture adjustment mechanism 2 uses only two mutually perpendicular rotating axes, it can also achieve two degrees of freedom rotation of the support mechanism 3 in the plane, completing the switching of basic training postures such as sagittal plane motion (arm swinging back and forth with the side of the body close to the body) and horizontal plane motion (arm opening and closing left and right in front of the body). By employing at least two rotation axes, with at least two of them being perpendicular, the kinematic model of the attitude adjustment mechanism 2 can be simplified, making it easier for the control system to calculate and control, and improving the accuracy and response speed of attitude switching.

[0038] like Figure 1 and Figure 5 As shown, to clearly describe the arrangement of the driving components, they can be divided into a vertical driving component 21, a horizontal driving component 22, and a longitudinal driving component 23. The vertical driving component 21 is installed at the bottom of the posture adjustment mechanism 2, and its output shaft forms a first rotation axis, connected to the upper platform 13 of the lifting driving component 12 of the frame 1. The horizontal driving component 22 is installed in the middle of the posture adjustment mechanism 2, and its output shaft forms a second rotation axis. The longitudinal driving component 23 is installed at the top of the posture adjustment mechanism 2, and its output shaft is fixedly connected to the swing support 31, forming a third rotation axis. At least two rotation axes are arranged perpendicularly to each other in space. Through the coordinated rotation of each driving component, the orientation of the support mechanism 3 in space can be adjusted, thereby switching the swing support 31 to the required training posture according to different training movements, meeting the training needs of different movements such as sagittal plane motion training and horizontal plane motion training.

[0039] In a preferred embodiment, the posture adjustment mechanism 2 has a first locked state in which it maintains the current training posture; the actuator 33 has a second locked state in which it maintains the position of the grip 32 relative to the swing support 31.

[0040] The first and second locking states are used to maintain the current positions of the posture adjustment mechanism 2 and the execution mechanism 33 during training, respectively, to prevent unexpected changes in posture or position due to external forces or gravity, thus ensuring the stability and safety of training. Specifically, the posture adjustment mechanism 2 may be equipped with a first locking element, such as an electromagnetic brake, a mechanical locking pin, or the self-locking function of the drive component itself when power is cut off (such as the self-locking characteristic of a worm gear reducer). When the posture adjustment mechanism 2 adjusts the support mechanism 3 to the target training posture, such as sagittal plane motion training or horizontal plane motion training, the first locking element activates, locking the posture adjustment mechanism 2 in its current state, preventing rotation during subsequent training. Similarly, the execution mechanism 33 may be equipped with a second locking element, such as a motor brake or a locking nut. When the execution mechanism 33 adjusts the grip part 32 to a position suitable for the user's arm length, the second locking element activates, locking the grip part 32 in its current position, preventing it from sliding along the swing support 31 during training. By setting a first locking state and a second locking state, it can be ensured that all adjustments of the device are fixed before rehabilitation training is performed, avoiding interference with the training trajectory or causing discomfort to the patient due to loose adjustment components. It should be understood that both the first and second locking elements are electrically connected to the control system and are controlled and adjusted by the control system.

[0041] like Figure 1 and Figure 4 As shown, the horizontal adjustment mechanism 4 includes a guide rail 41, a movable component 42, and a second drive component 43. The guide rail 41 is mounted on the frame 1; the movable component 42 is movably mounted on the guide rail 41 and connected to the posture adjustment mechanism 2; the second drive component 43 is driven by the movable component 42 and is used to drive the movable component 42 to move along the plane of the guide rail 41, such as linear reciprocating motion or arc motion. By rotating the second drive component 43 forward and backward, the movable component 42 can be driven to move to the required position on the guide rail 41, thereby realizing the horizontal position adjustment of the posture adjustment mechanism 2 and the support mechanism 3. This adjustment capability allows the device to quickly and accurately move the training mechanism to the optimal position according to the training action (such as moving the support mechanism 3 to one side of the body during horizontal plane motion training) or the user's body position, without requiring the user to move their body, significantly improving the convenience of operation and the effectiveness of training.

[0042] In one specific implementation, the horizontal adjustment mechanism 4 can be a linear guide slider mechanism, a lead screw and nut mechanism, or a gear and rack mechanism. For example, the guide rail 41 is a rack 411, the moving part 42 is a gear 421 meshing with the rack 411, and the second driving part 43 is a gear drive motor. The gear drive motor drives the gear 421 to rotate, causing the gear 421 to roll along the rack 411, thereby driving the attitude adjustment mechanism 2 to move. The rack 411 is fixedly mounted on the frame 1, extending horizontally, with the tooth surface of the rack 411 facing the gear 421. The gear 421 is rotatably mounted on the moving part 42 and meshes with the rack 411. The gear drive motor is fixedly mounted on the moving part 42, and its output shaft is fixedly connected to the gear 421 or transmitted through a reducer. When the gear-driven motor rotates, it drives gear 421 to rotate. Since gear 421 meshes with rack 411, it rolls along rack 411 while rotating, thereby driving the moving part 42 and the attitude adjustment mechanism 2 mounted on it to move along rack 411. Gear and rack transmission has advantages such as high transmission accuracy, large load capacity, and unrestricted stroke, enabling precise horizontal positioning of the attitude adjustment mechanism 2. Furthermore, gear and rack transmission has a certain self-locking characteristic; when the motor stops rotating, it can maintain the current position to a certain extent, preventing accidental movement of the moving part 42 under external force.

[0043] The upper limb rehabilitation training device also includes a control system electrically connected to the drive components in the posture adjustment mechanism 2 and the actuator 33.

[0044] The control system is configured to: in passive or assisted training mode, control the posture adjustment mechanism 2 to drive the swing support 31 to swing, so that the swing support 31 drives or assists the grip part 32 to move, completing actions such as sagittal plane movement (arm swinging back and forth close to the side of the body) and horizontal plane movement training (arm opening and closing left and right in front of the body); and / or drive or assist the grip part 32 to move through the actuator 33 to complete elbow flexion and extension (forearm bending and extending relative to the upper arm); in active training mode, control the posture adjustment mechanism 2 to provide adjustable resistance to the user's active driving of the swing support 31, adapting to active training related to the shoulder joint; and / or provide adjustable resistance to the movement of the grip part 32 through the actuator 33, adapting to active training of elbow flexion and extension (forearm bending and extending relative to the upper arm).

[0045] The control system includes a controller, drive circuits, and a human-machine interface. The controller, which can be a microcontroller, digital signal processor, or programmable logic controller, receives instructions, processes signals, and outputs control commands. The drive circuits are electrically connected to the controller and the drive components in the attitude adjustment mechanism 2 and actuator 33, and drive the various drive components to move according to the controller's instructions. The human-machine interface allows users or therapists to select training modes, set training parameters, and view training status.

[0046] In passive or assisted training modes, the control system controls the movement of the drive component in the posture adjustment mechanism 2, driving the swing support 31 to swing back and forth along a preset motion trajectory. The swing support 31 drives or assists the grip part 32 and the user's upper limb movement to complete actions such as sagittal plane movement (arm swinging back and forth close to the side of the body) and horizontal plane movement training (arm opening and closing left and right in front of the body); or the actuator 33 directly drives or assists the grip part 32 to complete elbow flexion and extension (forearm bending and extending relative to the upper arm); or both work simultaneously. The passive training mode is suitable for patients in the early stages of rehabilitation, when their own muscle strength is weak and they cannot actively complete the training movements, requiring the device to provide all the driving force; the assisted training mode is suitable for patients with some motor ability, where the device provides assistance to help complete the movements.

[0047] In active training mode, the control system controls the drive component in the posture adjustment mechanism 2 or the first drive component 332 in the actuator 33 to operate in a damped output state, that is, to generate adjustable resistance according to the direction and speed of the user's active drive. When the user actively drives the swing support 31 and the grip 32 to move and complete the relevant training movements of the shoulder or elbow joint, the corresponding drive component generates resistance opposite to the user's movement direction and speed. The magnitude of this resistance can be adjusted by the control system. Active training mode is suitable for patients in the middle and late stages of rehabilitation, at which point the patient has a certain amount of muscle strength and needs to enhance muscle strength and improve motor control ability by resisting resistance. By providing adjustable resistance, the training intensity of various movements such as sagittal plane movement (arm swinging back and forth close to the side of the body), horizontal plane movement (arm opening and closing left and right in front of the body), and elbow flexion and extension (forearm bending and extending relative to the upper arm) can be gradually increased according to the patient's recovery.

[0048] The frame 1 includes a lifting drive 12, and the control system is electrically connected to the lifting drive 12 and configured to control the lifting drive 12 to drive the posture adjustment mechanism 2 to move to a height aligned with the user's shoulder or elbow joint.

[0049] The control system is further configured to: in the active training mode, adjust the magnitude of the resistance according to preset damping parameters, and when no external force is applied to the grip 32, control the posture adjustment mechanism 2 to maintain the position of the swing support 31 or switch it to a passive training mode; in the passive or assisted training mode, control the posture adjustment mechanism 2 to drive the swing support 31 to move according to preset motion parameters to complete shoulder joint related training movements; and / or control the actuator 33 to drive the grip 32 to move according to preset motion parameters to complete elbow flexion and extension (forearm bending and extension relative to the upper arm) movements, wherein the motion parameters include at least one of motion speed, motion angle range, and torque.

[0050] The damping parameter is used to determine the proportional relationship between resistance and user driving force in active training mode. The damping parameter can be expressed as a coefficient, where the resistance is proportional to the product of the user's driving speed or driving force. The control system calculates the current resistance value to be output in real time based on the preset damping parameter and controls the corresponding drive components to output the corresponding resistance. When the user stops applying force, the control system detects that no external force is acting on the grip 32, and then controls the posture adjustment mechanism 2 to maintain its current position or automatically switch to passive training mode to prevent the swing support 31 from moving unexpectedly under gravity, ensuring user safety.

[0051] Motion parameters are used to determine the motion characteristics of the swing support 31 or grip 32 in passive or assisted training modes. Motion speed parameters determine the speed of movement, motion angle range parameters determine the amplitude of movement, and torque parameters determine the magnitude of the output auxiliary force. The control system controls the posture adjustment mechanism 2 or the actuator 33 to perform reciprocating motion according to the preset motion parameters. By adjusting the motion parameters, the training intensity of various movements, such as sagittal plane movement (arm swinging back and forth close to the side of the body), horizontal plane movement (arm opening and closing left and right in front of the body), and elbow flexion and extension (forearm bending and extending relative to the upper arm), can be adjusted according to the patient's rehabilitation stage and tolerance level.

[0052] The present invention provides a rehabilitation training control method, applied to the above-mentioned upper limb rehabilitation training device, the method comprising the following steps.

[0053] Based on the preset rehabilitation training movement type, the posture adjustment mechanism 2 is controlled to rotate the support mechanism 3, causing the swing support 31 to switch to the training posture corresponding to the training movement type. Training movement types may include sagittal plane movement (arm swinging back and forth close to the side of the body), horizontal plane movement (arm opening and closing to the left and right in front of the body), elbow flexion and extension (forearm bending and extending relative to the upper arm), etc. The control system determines the target training posture based on the selected movement type and controls the coordinated movement of each drive component of the posture adjustment mechanism 2, causing the support mechanism 3 to rotate to the corresponding spatial orientation.

[0054] The control frame 1 is activated, driving the swing support 31 to rise and fall until the swing center of the swing support 31 is aligned with the user's target training joint. The target training joint can be the shoulder joint or the elbow joint. The control system determines the required height adjustment based on the user's height parameters or through sensor detection, and controls the lifting drive 12 in the frame 1 to raise or lower the swing support 31 until its swing center is aligned with the user's joint rotation center.

[0055] The control system controls the actuator 33 to move the grip 32 to a position that matches the user's arm length. The control system controls the first drive member 332 in the actuator 33 to move according to the user's arm length parameters, and drives the transmission member 331 to move the grip 32 along the plane of the swing support 31. When the target position is reached, the control system can choose to lock the actuator 33 to keep the grip 32 in the current position.

[0056] The rehabilitation training process is performed in the training posture, which includes: if it is a passive training mode, the posture adjustment mechanism 2 drives the swing support 31 to swing according to preset motion parameters to drive the grip part 32 to move and complete the shoulder joint related training movements; and / or drives the grip part 32 to move through the actuator 33 to complete the elbow joint flexion and extension (forearm bending and extension relative to the upper arm) movements; if it is an active training mode, the posture adjustment mechanism 2 provides adjustable resistance to the user's movement of the swing support 31 to adapt to active shoulder joint training, and when no external force is applied to the grip part 32, the posture adjustment mechanism 2 maintains the current position of the swing support 31 or switches to passive training mode; and / or provides adjustable resistance to the movement of the grip part 32 through the actuator 33 to adapt to active elbow joint flexion and extension (forearm bending and extension relative to the upper arm) training.

[0057] In active training mode, to ensure user safety, the control system restricts the movement of the user-driven swing support 31 and grip 32 within a preset safe angle range. When the user drives the swing support 31 to approach or reach the boundary of this safe angle range, the control system controls the corresponding drive components to gradually increase resistance or stop movement to prevent hyperextension or hyperflexion of the joint. This safe angle range can be set and adjusted according to different users, different joints, and different rehabilitation stages, adapting to all training movements such as sagittal plane movement, horizontal plane movement, and elbow flexion and extension. By setting a safe angle range, the user's joints can be effectively protected during active training, avoiding secondary injuries caused by excessive force or loss of control, further improving the safety and clinical applicability of the device.

[0058] After rehabilitation training, the posture adjustment mechanism 2 and / or the actuator 33 are reset to their initial state. The control system drives the posture adjustment mechanism 2 to rotate to the initial angle, while simultaneously controlling the actuator 33 to move the grip 32 to its initial position for easy use or storage next time.

[0059] Through the above control methods and control system configuration, the upper limb rehabilitation training device can provide multiple modes of passive, assisted, and active training according to the different rehabilitation stages of patients. In the active training mode, it can achieve adjustable resistance and position holding functions, and in the passive or assisted training mode, it can achieve adjustable motion parameters. This can meet the differentiated training needs of patients at different rehabilitation stages for sagittal plane movement, horizontal plane movement training, elbow flexion and extension, and other movements, thereby improving the pertinence and effectiveness of rehabilitation training.

[0060] The above technical solution will be described in detail below with reference to the accompanying drawings.

[0061] like Figure 10 or Figure 13 as well as Figure 15 As shown, training exercise one: horizontal plane motion training is completed through the following steps: The initial state of the upper limb rehabilitation training device is as follows: Figure 9 or Figure 12 As shown, taking the chain drive scheme as an example: controlling the second drive component 43 in the horizontal adjustment mechanism 4 to move the moving component 42 along the guide rail 41, moving the posture adjustment mechanism 2 and the support mechanism 3 mounted on it to a suitable training position, for example... Figure 10 The position shown (if the initial position is suitable, there is no need to control the horizontal adjustment mechanism 4 to adjust the position) is reached. After reaching the designated position, the second drive member 43 of the horizontal adjustment mechanism 4 locks. Control the movement of the lateral drive member 22 in the posture adjustment mechanism 2 to drive the support mechanism 3 to rotate, so that the swing support 31 switches to the training posture corresponding to the arm's horizontal plane movement, such as... Figure 15As shown, specifically, the lateral drive member 22 rotates 90° to cause the swing support 31 to... Figure 10 As shown in the diagram, the vertical drive 21 and the horizontal drive 22 then enter a locked state, jointly maintaining the current posture of the posture adjustment mechanism 2. The height of the swing support 31 is adjusted using the height adjustment function of the frame 1, aligning the rotation axis of the swing support 31 with the user's shoulder joint. The chain drive motor 3321 in the control actuator 33 is activated, driving the grip 32 to move in a plane to a position matching the user's arm length, and locking the position of the grip 32. Since the vertical drive 23 is not locked, horizontal plane movement training can then be performed. In passive training mode, the vertical drive 23 of the posture adjustment mechanism 2 drives the swing support 31 to swing back and forth, causing the user's upper limb to complete horizontal plane movement movements. In active training mode, the vertical drive 23 in the posture adjustment mechanism 2 operates in a damped output state, providing adjustable resistance to the user's active driving of the swing support 31 and grip 32 to complete horizontal plane movement training movements. After rehabilitation training, all mechanisms are reset to their original positions. Figure 9 or Figure 12 The initial state.

[0062] like Figure 9 or Figure 12 as well as Figure 16 As shown, training exercise two: frontal plane planar motion training is completed through the following steps: The initial state of the upper limb rehabilitation training device is as follows: Figure 9 or Figure 12 As shown, taking the chain drive scheme as an example, firstly, the second drive component 43 in the horizontal adjustment mechanism 4 is activated, driving the moving component 42 to move along the guide rail 41, thus moving the posture adjustment mechanism 2 and the support mechanism 3 mounted thereon to a position convenient for the user, for example... Figure 9 or Figure 12 As shown, after reaching the designated position, the second drive member 43 of the horizontal adjustment mechanism 4 locks; the height of the swing support 31 is adjusted by the height adjustment function of the frame 1 so that the rotation axis of the swing support 31 is aligned with the user's shoulder joint, and the vertical drive member 21 and the horizontal drive member 22 in the posture adjustment mechanism 2 are locked; by controlling the action of the chain drive motor 3321 in the actuator 33, the grip part 32 is driven to move in a plane to a position matching the user's arm length, and the position of the grip part 32 is locked, thereby forming a training posture corresponding to the arm movement in the frontal plane, for example... Figure 9 or Figure 12 The state shown or Figure 16The training posture is shown; since the longitudinal drive component 23 in the posture adjustment mechanism 2 is not locked, frontal plane motion training can then be performed. In passive training mode, the longitudinal drive component 23 of the posture adjustment mechanism 2 drives the swing support 31 to swing back and forth, moving the user's upper limb to complete the frontal plane motion training movement. In active training mode, the longitudinal drive component 23 in the posture adjustment mechanism 2 operates in the damped output state, providing adjustable resistance to the user's active driving of the swing support 31 and grip 32 to complete the frontal plane motion movement. After rehabilitation training, the control mechanisms are reset to their original positions. Figure 9 or Figure 12 The initial state is shown.

[0063] like Figure 11 or Figure 14 as well as Figure 17 As shown, training exercise three: sagittal plane motion training is completed through the following steps: The initial state of the upper limb rehabilitation training device is as follows: Figure 9 or Figure 12 As shown, taking the chain drive scheme as an example, the user adjusts the height of the swing support 31 according to their own height using the height adjustment function of the frame 1, aligning the rotation axis of the swing support 31 with the user's shoulder joint. The second drive component 43 in the horizontal adjustment mechanism 4 is controlled to move, driving the moving component 42 along the guide rail 41, moving the posture adjustment mechanism 2 and the support mechanism 3 mounted thereon to the left side, for example... Figure 11 The horizontal adjustment mechanism 4's second drive element 43 locks after reaching the designated position. The longitudinal drive element 23 in the attitude adjustment mechanism 2 rotates 90° to the indicated position. Figure 11 Location or Figure 14 When the vertical drive member 21 and the horizontal drive member 22 are locked in position, the chain drive motor 3321 in the control actuator 33 is activated, driving the chain 3311 to move, which in turn moves the grip part 32, which is fixedly connected to the chain 3311, along the plane of the swing support 31 until the grip part 32 moves to a position that matches the user's arm length. Then, the chain drive motor 3321 is controlled to enter the position holding mode, locking the position of the grip part 32, for example, in the position where... Figure 11 or Figure 14After the user enters the correct position, sagittal plane motion training can begin. In passive training mode, the longitudinal drive component 23 of the posture adjustment mechanism 2 drives the swing support 31 to swing back and forth according to preset motion parameters. The swing support 31, through the grip 32, guides the user's upper limb to complete sagittal plane motion training movements on the side of the body. In active training mode, the longitudinal drive component 23 in the posture adjustment mechanism 2 operates in a damped output state. When the user actively drives the grip 32 and the swing support 31, the longitudinal drive component 23 generates resistance opposite to the direction of movement according to preset damping parameters. The magnitude of the resistance is adjusted by the damping coefficient, and the swing support 31 maintains its current position when no external force is applied to the grip 32. After rehabilitation training, the posture adjustment mechanism 2 and the actuator 33 are reset to their original positions. Figure 9 or Figure 12 The initial state is shown.

[0064] In addition to using the posture adjustment mechanism 2 to drive the swing support 31 to swing and assist the user's entire upper limb in completing the aforementioned shoulder joint-related training, this device also supports another independent training method: when the swing support 31 is locked in a fixed posture by the posture adjustment mechanism 2, the control system controls the first drive member 332 in the actuator 33 to drive the transmission member 331 to reciprocate, thereby causing the gripping part 32 to reciprocate linearly along the plane of the swing support 31. This method can guide the user's forearm to flex and extend relative to the upper arm, and is suitable for elbow flexion and extension training. Figure 9 or Figure 10 or Figure 11 As shown, exercise four: elbow flexion and extension training is completed through the following steps: The initial state of the upper limb rehabilitation training device is as follows: Figure 9 or Figure 12 As shown, taking the chain drive scheme as an example, the control posture adjustment mechanism 2 and the horizontal adjustment mechanism 4 work together to adjust the upper limb rehabilitation training device from its initial state to... Figure 10 or Figure 11After the posture is established, the vertical drive component 21, the horizontal drive component 22, and the longitudinal drive component 23 in the posture adjustment mechanism 2 are locked. The height of the swing support 31 is adjusted using the height adjustment function of the frame 1, and the rotation axis of the swing support 31 is aligned with the user's shoulder joint and then locked. Since the first drive component 332 is not locked, elbow flexion and extension training can be performed. In passive training mode, the actuator 33 actively drives the grip 32 and the user's forearm to complete the flexion and extension movements of the forearm relative to the upper arm according to the preset movement speed and stroke range. In active training mode, the actuator 33 operates in the damping output state, providing adjustable resistance to the user's active driving of the grip 32 to complete the elbow flexion and extension movements. In this way, the device can independently complete elbow flexion and extension training without changing the swing support posture, further enriching the types of rehabilitation training movements.

[0065] Through independent or combined training of the above-mentioned movements, this device can meet the diverse training needs of the shoulder and elbow joints at different stages of rehabilitation.

[0066] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. An upper limb rehabilitation training device, characterized in that, include: A frame, the height of which is adjustable; An attitude adjustment mechanism is mounted on the frame; A horizontal adjustment mechanism is disposed between the frame and the attitude adjustment mechanism, and is used to drive the attitude adjustment mechanism to move in the horizontal direction; A support mechanism is mounted on the posture adjustment mechanism, which drives the support mechanism to rotate in at least two degrees of freedom to switch training postures. The supporting structure includes: The swing support is rotatably connected to the attitude adjustment mechanism and is driven to swing by the attitude adjustment mechanism. The grip section is for the user to hold; An actuator is mounted on the swing support and driven to the grip part to drive the planar movement of the grip part, so as to adapt to the arm length of different users and enable active and passive training.

2. The upper limb rehabilitation training device according to claim 1, characterized in that, The attitude adjustment mechanism includes at least two rotating shafts, wherein the at least two rotating shafts are arranged perpendicular to each other, and each rotating shaft is driven by an independent driving component.

3. The upper limb rehabilitation training device according to claim 1, characterized in that, The actuator includes a transmission component and a first driving component. The transmission component is disposed on the swing support, and the first driving component is drivenly connected to the transmission component. The gripping part is disposed on the transmission component and is capable of planar movement under the drive of the first driving component.

4. The upper limb rehabilitation training device according to claim 3, characterized in that, The transmission component includes a sprocket and a chain or a belt and a pulley that are connected in a transmission connection. The first driving component is a drive motor, and the gripping part is disposed on the chain or belt.

5. The upper limb rehabilitation training device according to claim 3, characterized in that, The transmission component is a linkage assembly, the first driving component is a linkage drive motor, the linkage assembly includes at least one linkage that is hinged to the swing support, the linkage drive motor is drivenly connected to the linkage assembly, and the gripping part is disposed on the linkage assembly.

6. The upper limb rehabilitation training device according to claim 1, characterized in that, The horizontal adjustment mechanism includes: Guide rails are mounted on the frame; A movable component is movably mounted on the guide rail and connected to the attitude adjustment mechanism; The second driving component is connected to the moving component and is used to drive the moving component to move along the guide rail plane.

7. The upper limb rehabilitation training device according to claim 1, characterized in that, It also includes a control system electrically connected to the attitude adjustment mechanism and the drive components in the actuator, the control system being configured to: In passive or assisted training mode, the posture adjustment mechanism is controlled to drive the swing support to swing, so as to drive or assist the movement of the grip part through the swing support; and / or the grip part is directly driven or assisted through the actuator. In active training mode, the posture adjustment mechanism provides adjustable resistance to the user's active driving of the swing support, and / or the actuator provides adjustable resistance to the movement of the grip.

8. The upper limb rehabilitation training device according to claim 7, characterized in that, The frame includes a lifting drive, and the control system is electrically connected to the lifting drive and configured to control the lifting drive to move the posture adjustment mechanism to a height aligned with the user's joints.

9. The upper limb rehabilitation training device according to claim 7, characterized in that, The control system is also configured to: In the active training mode, the magnitude of the resistance is adjusted according to the preset damping parameters, and when no external force is applied to the grip, the posture adjustment mechanism is controlled to maintain the position of the swing support or be switched to the passive training mode. In the passive or assisted training mode, the posture adjustment mechanism is controlled to drive the swing support movement according to preset motion parameters, and / or the actuator is controlled to drive the gripping part movement according to preset motion parameters, wherein the motion parameters include at least one of motion speed, motion angle range and torque.

10. A method for controlling rehabilitation training, characterized in that, The method, applied to the upper limb rehabilitation training device according to any one of claims 1-9, comprises: According to the preset rehabilitation training movement type, the posture adjustment mechanism is controlled to drive the support mechanism to rotate, so that the swing support switches to the training posture corresponding to the training movement type. Control the frame to move and drive the swing support to rise and fall until the swing center of the swing support is aligned with the user's target training joint position; Control the actuator to move the grip to a position that matches the user's arm length; The rehabilitation training process is performed in the training posture, and the process includes: In passive training mode, the posture adjustment mechanism is controlled to drive the swing support to swing according to preset motion parameters to drive the grip part to move; and / or the grip part is driven to move through the actuator. In active training mode, the posture adjustment mechanism provides adjustable resistance to the user's movement of the swing support, and when no external force is applied to the grip, the posture adjustment mechanism maintains the current position of the swing support or switches to passive training mode; and / or the actuator provides adjustable resistance to the movement of the grip. After the rehabilitation training is completed, the posture adjustment mechanism and / or the actuator are reset to their initial state.

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