Arm rehabilitation training device

Abstract

The utility model provides an arm rehabilitation training device which comprises a fixing assembly used for being fixed to an upper arm; the elbow bending and stretching assembly is rotationally connected with the fixing assembly, and the elbow bending and stretching assembly is used for being fixed to the forearm; the arm rotating assembly is in sliding connection with the elbow flexion and extension assembly so as to adjust the total length of the arm rotating assembly and the elbow flexion and extension assembly along the forearm; and the displacement sensor is fixed on the elbow flexion and extension assembly and is used for detecting the relative displacement of the arm rotating assembly relative to the elbow flexion and extension assembly. According to the arm rehabilitation device, the length change can be determined in time.

Description

Technical Field

[0001] The present disclosure relates to the technical field of intelligent medical devices, and particularly to an arm rehabilitation training device. Background Art

[0002] Existing elbow joint rehabilitation training devices rely on a forearm support and straps to fix the patient's forearm, and the forearm support drives the forearm to move; the training mode of this kind of device is basically passive movement, with a single function, and the user difference adaptability of this kind of device is poor, and it cannot well adapt to two different training processes of flexion / extension and rotation. At the same time, during the training process, due to the self-weight of the forearm support assembly, it will cause unstable control during the flexion / extension movement of the device, resulting in the running speed being sometimes fast and sometimes slow, and the angle being inaccurate, which affects the safe use of the patient. For this reason, the inventor proposed the invention creation of CN 115813715 A, an arm rehabilitation training device and a gravity compensation calculation method for this device. However, in actual use, due to the adjustment of the forearm length of the device, the center of gravity point of the forearm support assembly has changed, and real-time and effective length measurement cannot be performed, and the influence of the center of gravity change on the control stability of the device cannot be eliminated. Therefore, the following utility model invention is proposed. Summary of the Utility Model

[0003] The present disclosure provides an arm rehabilitation training device to at least solve the above technical problems existing in the prior art.

[0004] An arm rehabilitation training device according to the present disclosure is characterized in that it includes:

[0005] A fixing component for fixing with the upper arm;

[0006] An elbow flexion / extension component rotatably connected to the fixing component, and the elbow flexion / extension component is used for fixing with the forearm;

[0007] An arm rotation component slidably connected to the elbow flexion / extension component to adjust the total length of the arm rotation component and the elbow flexion / extension component along the forearm;

[0008] A displacement sensor fixed on the elbow flexion / extension component for detecting the relative displacement of the arm rotation component relative to the elbow flexion / extension component.

[0009] In an implementable embodiment, the elbow flexion / extension component includes:

[0010] A first connecting frame formed with a forearm positioning groove for the forearm to be inserted into. The first connecting frame is rotatably connected to the fixing component through a first motor, and the first motor is used to drive the elbow flexion / extension component to rotate relative to the fixing component. The displacement sensor is arranged on the side of the first connecting frame facing away from the forearm positioning groove.

[0011] In an implementable embodiment, the portion of the first connecting frame forming the forearm positioning groove has a hollow portion; along the direction away from the fixing component, the cross-sectional area of the forearm positioning groove gradually decreases; a flexible material layer is provided inside the forearm positioning groove.

[0012] In an implementable embodiment, the first connecting frame has an opening penetrating through the forearm positioning groove. The first connecting frame forms opposite first free end and second free end on both sides of the opening. A first strap for closing the opening is connected between the first free end and the second free end; a splint is provided on the first strap, and the splint is located on one side inside the forearm positioning groove.

[0013] In an implementable embodiment, the displacement sensor includes a main body and a pull rod capable of sliding relative to the main body. The main body is fixed to the first connecting frame, and the pull rod is fixed to the arm rotating assembly.

[0014] In an implementable embodiment, the arm rotating assembly includes:

[0015] A second connecting frame, including an opposite first end and second end. The first end is slidably connected to the first connecting frame. The second connecting frame has a connection hole. The pull rod passes through the connection hole and is fixed to the second connecting frame by a nut;

[0016] An arm rotating device, provided at the second end of the second connecting frame, for driving the forearm to rotate circumferentially.

[0017] In an implementable embodiment, the first end of the second connecting frame includes a sliding rod. The first connecting frame has a sliding groove adapted to the sliding rod. The sliding rod is inserted into the sliding groove and fixed to the first connecting frame by a fastening screw. One end of the sliding rod away from the first connecting frame has a bent portion, and the connection hole is provided in the bent portion.

[0018] In an implementable embodiment, the second connecting frame includes a first connecting member and a second connecting member. The sliding rod and the arm rotating device are provided on the first connecting member. The second connecting member is wrapped around the outer periphery of the first connecting member. A protective cover is provided on the second connecting member, and the protective cover is sleeved on the arm rotating device; the second connecting member is made of plastic material.

[0019] In an implementable embodiment, the arm rotating device includes:

[0020] A rotating motor;

[0021] A handle, connected to the rotating motor, and the rotating motor is used to drive the handle to rotate.

[0022] In one implementable embodiment, an attitude sensor is provided on the fixed component.

[0023] In the arm rehabilitation training device according to the embodiment of the present disclosure, a displacement sensor is provided on the elbow flexion and extension component, which can detect the relative displacement of the arm rotation component relative to the elbow flexion and extension component, so as to accurately monitor the change in the total length of the arm rotation component and the elbow flexion and extension component along the forearm, and can send the displacement data to the system in real time, and further can determine the change in the center of gravity in real time.

[0024] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it used to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] By referring to the accompanying drawings and reading the following detailed description, the above and other objects, features, and advantages of the exemplary embodiments of the present disclosure will become easily understood. In the drawings, several embodiments of the present disclosure are shown in an exemplary rather than restrictive manner, wherein:

[0026] In the drawings, the same or corresponding reference numerals represent the same or corresponding parts.

[0027] Figure 1 The structural schematic diagram of the arm rehabilitation training device according to the embodiment of the present disclosure is shown Figure 1 ;

[0028] Figure 2 The structural schematic diagram of the arm rehabilitation training device according to the embodiment of the present disclosure is shown Figure 2 ;

[0029] Figure 3 The structural schematic diagram of the arm rehabilitation training device according to the embodiment of the present disclosure is shown Figure 3 ;

[0030] Figure 4 Shows Figure 3 The enlarged structural schematic diagram of part A of

[0031] Figure 5 The exploded structural schematic diagram of the arm rehabilitation training device according to the embodiment of the present disclosure is shown Figure 1 ;

[0032] Figure 6 The exploded structural schematic diagram of the arm rehabilitation training device according to the embodiment of the present disclosure is shown Figure 2 .

[0033] Description of reference numerals in the figure: 1 - fixed component, 11 - third connecting frame, 12 - second strap, 13 - outer protective cover, 14 - inner protective cover, 15 - bottom plate, 2 - elbow flexion and extension component, 21 - first connecting frame, 211 - supporting part, 212 - surrounding part, 22 - first motor, 23 - first strap, 24 - splint, 25 - forearm positioning groove, 3 - arm rotation component, 31 - second connecting frame, 311 - sliding rod, 312 - first connecting piece, 313 - second connecting piece, 32 - arm rotation device, 321 - rotating motor, 322 - handle, 4 - displacement sensor, 41 - main body, 42 - pull rod. Detailed implementation manners

[0034] To make the objectives, features, and advantages of the present disclosure more obvious and understandable, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present disclosure.

[0035] Refer to Figures 1 to 6 , the embodiment of the present disclosure provides an arm rehabilitation training device, including a fixed component 1, an elbow flexion and extension component 2, an arm rotation component 3, and a displacement sensor 4. The fixed component 1 is used for fixing with the upper arm; the elbow flexion and extension component 2 is rotatably connected to the fixed component 1, and the elbow flexion and extension component 2 is used for fixing with the forearm; the arm rotation component 3 is slidably connected to the elbow flexion and extension component 2 to adjust the total length of the arm rotation component 3 and the elbow flexion and extension component 2 along the forearm; the displacement sensor 4 is fixed on the elbow flexion and extension component 2 and is used for detecting the relative displacement of the arm rotation component 3 relative to the elbow flexion and extension component 2.

[0036] In the arm rehabilitation training device of the embodiment of the present disclosure, a displacement sensor 4 is arranged on the elbow flexion and extension component 2, which can detect the relative displacement of the arm rotation component 3 relative to the elbow flexion and extension component 2, so as to accurately monitor the change of the total length of the arm rotation component 3 and the elbow flexion and extension component 2 along the forearm, and can send the displacement data to the system in real time, and then can determine the change of the center of gravity in real time. When performing gravity compensation during the training process, the compensation amount can be determined according to the actual center of gravity, so that the rotation speed of the device driving the forearm relative to the upper arm is more stable and the angle is more accurate.

[0037] In an implementable manner, refer to Figure 2The elbow flexion and extension assembly 2 includes a first connecting frame 21, and the first connecting frame 21 is formed with a forearm positioning groove 25 for the forearm to be embedded. The first connecting frame 21 is rotatably connected to the fixed assembly 1 through a first motor 22. The first motor 22 is used to drive the elbow flexion and extension assembly 2 to rotate relative to the fixed assembly 1, and the displacement sensor 4 is arranged on the side of the first connecting frame 21 away from the forearm positioning groove 25. When in use, the user's forearm is embedded in the forearm positioning groove 25, and the first motor 22 can drive the first connecting frame 21 to rotate relative to the fixed assembly 1, thereby driving the forearm to flex and extend relative to the upper arm. The first connecting frame 21 is formed with a forearm positioning groove 25 for easy wearing. The displacement sensor 4 is arranged on the side of the first connecting frame 21 away from the forearm positioning groove 25, which will not affect the user's wearing and is easy to assemble.

[0038] The first connecting frame 21 may be integrally formed or assembled from a plurality of parts. The specific method of assembling the plurality of parts may include at least one of screw connection, welding, and bonding.

[0039] The first connecting frame 21 may include a supporting portion 211 and an embracing portion 212 connected to both sides of the supporting portion 211, and a forearm positioning groove 25 is formed between the supporting portion 211 and the embracing portion 212. The displacement sensor 4 may be disposed on the supporting portion 211, and specifically, the displacement sensor 4 may be disposed on a side of the supporting portion 211 away from the forearm positioning groove 25.

[0040] In one embodiment, see Figures 1 to 6 The portion of the first connecting frame 21 forming the forearm positioning groove 25 has a hollow portion. By providing the hollow portion on the first connecting frame 21, the weight can be reduced, materials can be saved, and the air permeability can be improved to improve comfort. The portion of the first connecting frame 21 forming the forearm positioning groove 25 may have a hollow portion. In a specific implementation, the first connecting frame 21 includes a supporting portion 211 and an embracing portion 212, and the embracing portion 212 may have a hollow portion.

[0041] In one embodiment, see Figure 2 , Figure 5 and Figure 6 , the cross-sectional area of ​​the forearm positioning slot 25 gradually decreases in the direction away from the fixing assembly 1. The cross-sectional area of ​​the forearm positioning slot 25 changes with the thickness of the forearm, so that the first connecting frame 21 can fit the forearm more closely.

[0042] In one embodiment, a flexible material layer may be provided inside the forearm positioning groove 25 to prevent damage to the arm and improve comfort.

[0043] The first connecting frame 21 can be made of a material with a certain degree of flexibility, which has a certain degree of bending resistance to support the forearm, and a certain degree of deformation ability to better wrap the forearm.

[0044] In an implementable embodiment, the side wall of the forearm positioning groove 25 may be circumferentially closed or non-closed.

[0045] The first connecting frame 21 includes a supporting portion 211 and an encircling portion 212. The two sides of the supporting portion 211 are respectively connected to the two sides of the encircling portion 212 to form a circumferentially closed cylindrical shape, and the inner space of the cylinder forms the forearm positioning groove 25. When worn, the forearm can be inserted into the forearm positioning groove 25 from one end.

[0046] Alternatively, referring to Figure 2 、 Figure 5 and Figure 6 The first connecting frame 21 includes a supporting portion 211 and two encircling portions 212. The two sides of the supporting portion 211 are respectively connected to one encircling portion 212, and the two encircling portions 212 are not connected to each other, forming a cylindrical shape with an opening in the circumference. The inner space of the cylinder forms the forearm positioning groove 25. When worn, the forearm can be inserted into the forearm positioning groove 25 from the opening.

[0047] In an implementable embodiment, referring to Figure 2 、 Figure 5 and Figure 6 The first connecting frame 21 has an opening penetrating through the forearm positioning groove 25. The first connecting frame 21 forms opposite first free end and second free end on both sides of the opening, and a first strap 23 for closing the opening is connected between the first free end and the second free end. By providing the first strap 23, the connection between the first connecting frame 21 and the forearm can be made more firm.

[0048] In an implementable embodiment, referring to Figure 5 and Figure 6 The first strap 23 may be provided with a splint 24, and the splint 24 is located on one side inside the forearm positioning groove 25. The splint 24 and the first connecting frame 21 fix the forearm together to enhance the equal-position effect.

[0049] The surface of the splint 24 facing the forearm positioning groove 25 may have an arc surface to match the shape of the forearm.

[0050] The splint 24 may have a connection groove, and the first strap 23 is inserted into the connection groove to connect the splint 24 and the first strap 23. The connection groove may be provided on the surface of the splint 24 facing away from the forearm positioning groove 25. The connection groove may also penetrate through the inner surface and the outer surface of the splint 24, where the inner surface is the surface facing the forearm positioning groove 25 and the outer surface is the surface facing away from the forearm positioning groove 25.

[0051] The position of the connection groove may be located in the middle and / or at the edge of the splint 24. The number of the connection grooves may be one or two or more.

[0052] In an exemplary embodiment, the number of connection grooves on the clamping plate 24 is three, which are respectively provided in the middle and at two edges of the clamping plate 24. The two connection grooves provided at the edges of the clamping plate 24 may respectively penetrate the inner surface and the outer surface of the clamping plate 24. The clamping plate 24 may have a convex portion protruding from the outer surface, and the convex portion has a through hole to form a connection groove.

[0053] In the embodiments of the present disclosure, the displacement sensor 4 may be an inductive displacement sensor 4, a capacitive displacement sensor 4, a photoelectric displacement sensor 4, an ultrasonic displacement sensor 4, or a Hall displacement sensor 4.

[0054] In an implementable manner, referring to Figure 4 and Figure 5 , the displacement sensor 4 includes a main body 41 and a pull rod 42 that can slide relative to the main body 41. The main body 41 is fixed to the first connection frame 21, and the pull rod 42 is fixed to the arm rotation assembly 3. One end of the pull rod 42 is connected to the arm rotation assembly 3, and the other end is connected to the main body 41 of the displacement sensor 4. When a relative displacement occurs between the arm rotation assembly 3 and the first connection frame 21, causing a change in the total length of the arm rotation assembly 3 and the elbow flexion and extension assembly 2, a relative displacement also occurs between the pull rod 42 and the main body 41. The displacement sensor 4 can convert the displacement into an electrical signal, and the control unit can determine the change amount of the total length of the arm rotation assembly 3 and the elbow flexion and extension assembly 2 according to the electrical signal.

[0055] In an implementable manner, referring to Figure 2 , the arm rotation assembly 3 includes a second connection frame 31 and an arm rotation device 32. The second connection frame 31 includes an opposite first end and a second end. The first end is slidably connected to the first connection frame 21. The second connection frame 31 has a connection hole, and the pull rod 42 passes through the connection hole and is fixed to the second connection frame 31 by a nut; the arm rotation device 32 is provided at the second end of the second connection frame 31 and is used to drive the forearm to rotate circumferentially. The forearm is fixed to the elbow flexion and extension assembly 2, and the user's hand can grasp the arm rotation device 32, and the arm rotation device 32 can drive the forearm to rotate circumferentially. The pull rod 42 of the displacement sensor 4 may be connected to the second connection frame 31.

[0056] In an implementable manner, referring to Figure 5 and Figure 6 , the first end of the second connection frame 31 includes a sliding rod 311. The first connection frame 21 has a sliding groove adapted to the sliding rod 311. The sliding rod 311 is inserted into the sliding groove and is fixed to the first connection frame 21 by a fastening screw. One end of the sliding rod 311 away from the first connection frame 21 has a bent portion, and the connection hole is provided at the bent portion. The displacement sensor 4 may be arranged along the direction of the sliding groove. The displacement sensor 4 is fixed to the surface of the first connection frame 21. The bent portion of the second connection frame 31 can facilitate the connection of the pull rod 42.

[0057] Refer to Figure 5 , a length scale may be provided on the sliding rod 311, which can be used to indicate the telescopic amount.

[0058] In an implementable manner, refer to Figure 5 , the second connecting frame 31 includes a first connecting member 312 and a second connecting member 313. The sliding rod 311 and the arm rotating device 32 are provided on the first connecting member 312. The second connecting member 313 is covered on the outer periphery of the first connecting member 312. A protective cover is provided on the second connecting member 313, and the protective cover is sleeved on the arm rotating device 32. The second connecting member 313 can prevent the arm rotating device 32 from being exposed outside and play a protective role.

[0059] In an implementable manner, the second connecting member 313 is made of plastic material.

[0060] In an implementable manner, refer to Figure 5 and Figure 6 , the arm rotating device 32 includes a rotating motor 321 and a handle 322; the handle 322 is connected to the rotating motor 321, and the rotating motor 321 is used to drive the handle 322 to rotate. The forearm is fixed to the elbow flexion and extension assembly 2, and the user's hand holds the handle 322. The rotating motor 321 drives the handle 322 to rotate, thereby driving the forearm to rotate.

[0061] In an implementable manner, an attitude sensor is provided on the fixing component 1. The spatial attitude of the arm can be obtained in real time through the attitude sensor.

[0062] In an implementable manner, refer to Figure 5 and Figure 6 , the fixing component 1 includes a third connecting frame 11. The third connecting frame 11 is formed with an upper arm positioning groove for the upper arm to be embedded. The third connecting frame 11 is rotatably connected to the elbow flexion and extension assembly 2 through a first motor 22, and the first motor 22 is used to drive the elbow flexion and extension assembly 2 to rotate relative to the third connecting frame 11. During use, the user's upper arm is embedded in the upper arm positioning groove, and the first motor 22 can drive the elbow flexion and extension assembly 2 to rotate relative to the fixing component 1, so as to drive the forearm to make flexion and extension movements relative to the upper arm. The third connecting frame 11 is formed with an upper arm positioning groove, which is convenient for wearing.

[0063] The third connecting frame 11 can be integrally formed or assembled by multiple components. The specific ways of assembling multiple components can include at least one of threaded connection, welding, and bonding.

[0064] In an implementable manner, refer to Figure 5 and Figure 6, the portion of the third connecting frame 11 that forms the upper arm positioning groove has a hollowed-out portion. By providing the hollowed-out portion on the third connecting frame 11, the weight can be reduced, materials can be saved, and ventilation can be achieved, improving comfort. It can be that the portion of the third connecting frame 11 that forms the upper arm positioning groove has a hollowed-out portion.

[0065] In an implementable embodiment, refer to Figure 5 and Figure 6 , a second strap 12 is further provided on the third connecting frame 11. By providing the second strap 12, the connection between the third connecting frame 11 and the upper arm can be made more secure.

[0066] Refer to Figure 5 and Figure 6 , the fixing assembly 1 may further include an outer protective cover 13 provided outside the third connecting frame 11, an inner protective cover 14 provided inside the third connecting frame 11, and a bottom plate 15 provided on the lower surface of the third connecting frame 11.

[0067] It should be understood that various forms of the processes shown above can be used, reordering, adding, or deleting steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solution of this disclosure can be achieved. This is not limited herein.

[0068] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of this disclosure, "a plurality of" means two or more, unless otherwise specifically defined.

[0069] The above is only the specific implementation manner of this disclosure, but the protection scope of this disclosure is not limited thereto. Any person skilled in the art within the technical scope disclosed by this disclosure can easily think of changes or substitutions, which should all be covered within the protection scope of this disclosure. Therefore, the protection scope of this disclosure should be subject to the protection scope of the claimed rights.

Claims

1. An arm rehabilitation training device, characterized in that, Comprising: A fixing component for fixing to the upper arm; An elbow flexion and extension component rotatably connected to the fixing component, the elbow flexion and extension component being used for fixing to the forearm; An arm rotation component slidably connected to the elbow flexion and extension component to adjust the total length of the arm rotation component and the elbow flexion and extension component along the forearm; A displacement sensor fixed to the elbow flexion and extension component for detecting the relative displacement of the arm rotation component relative to the elbow flexion and extension component.

2. The arm rehabilitation training device according to claim 1, wherein The elbow flexion and extension component includes: A first connecting frame formed with a forearm positioning groove for the forearm to be inserted into, the first connecting frame being rotatably connected to the fixing component through a first motor, the first motor being used to drive the elbow flexion and extension component to rotate relative to the fixing component, and the displacement sensor being provided on a surface of the first connecting frame facing away from the forearm positioning groove.

3. The arm rehabilitation training device according to claim 2, wherein A part of the first connecting frame forming the forearm positioning groove has a hollow part; along the direction away from the fixing component, the cross-sectional area of the forearm positioning groove gradually decreases; a flexible material layer is provided inside the forearm positioning groove.

4. The arm rehabilitation training device according to claim 2, characterized in that, The first connecting frame has an opening penetrating through the forearm positioning groove, and the first connecting frame forms opposite first free end and second free end on both sides of the opening, and a first strap for closing the opening is connected between the first free end and the second free end; a splint is provided on the first strap, and the splint is located on one side inside the forearm positioning groove.

5. The arm rehabilitation training device according to claim 2, characterized in that, The displacement sensor includes a main body and a pull rod capable of sliding relative to the main body, the main body being fixed to the first connecting frame, and the pull rod being fixed to the arm rotation component.

6. The arm rehabilitation training device according to claim 5, wherein, The arm rotation component includes: A second connecting frame including an opposite first end and second end, the first end being slidably connected to the first connecting frame, the second connecting frame having a connection hole, the pull rod passing through the connection hole and being fixed to the second connecting frame through a nut; An arm rotation device provided at the second end of the second connecting frame for driving the forearm to rotate circumferentially.

7. The arm rehabilitation training device according to claim 6, wherein, The first end of the second connecting frame includes a sliding rod, the first connecting frame having a sliding groove adapted to the sliding rod, the sliding rod being inserted into the sliding groove, the sliding rod being fixed to the first connecting frame through a fastening screw, and the end of the sliding rod away from the first connecting frame having a bent part, and the connection hole being provided at the bent part.

8. The arm rehabilitation training device according to claim 7, characterized in that, The second connecting frame includes a first connecting member and a second connecting member, the sliding rod and the arm rotation device being provided on the first connecting member, the second connecting member covering the outer periphery of the first connecting member, and a protective cover being provided on the second connecting member, the protective cover being sleeved on the arm rotation device; the second connecting member is made of plastic material.

9. The arm rehabilitation training device according to claim 6, wherein, The arm rotation device includes: A rotation motor; A handle connected to the rotation motor, the rotation motor being used to drive the handle to rotate.

10. The arm rehabilitation training device according to claim 1, wherein, An attitude sensor is provided on the fixing component.

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