Upper limb internal and external rotation training device and upper limb rehabilitation training system

Abstract

The utility model belongs to the field of medical instruments, and discloses an upper limb internal and external rotation training device and an upper limb rehabilitation training system.The upper limb internal and external rotation training device comprises a base, a power output assembly, a torque sensor, an arm support assembly and a grip strength detection handle; the power output assembly is arranged on the base; the torque sensor is fixedly connected with the output end of the power output assembly. The arm support assembly is fixedly connected with the output end of the power output assembly, and the power output assembly drives the arm support assembly to rotate; the grip strength detection handle is fixedly arranged relative to the arm support assembly. By arranging the power output assembly, the arm support assembly and the grip strength detection handle, internal and external rotation training can be carried out on the upper limbs, comprehensive, safe and effective rehabilitation training can be carried out on the forearms, finger joints and other fine joints of a patient, and the training effect is improved; in addition, through multi-dimensional feedback of torque, force and the like, the autonomous participation willingness of the patient is effectively improved, the training effectiveness is enhanced, and manpower resources are saved to a certain extent.

Description

Technical Field

[0001] The utility model relates to the technical field of medical devices, in particular to an upper limb internal and external rotation training device and an upper limb rehabilitation training system. Background Art

[0002] The main causes of functional impairments in the hands and upper limbs include cerebral palsy, traffic accidents, and work-related injuries. Spinal cord injuries and stroke, among other cerebrovascular diseases, are particularly common. Statistics show that the majority of stroke survivors experience upper limb dysfunction, and the number is increasing. In addition to surgical and medication treatments, rehabilitation programs developed by rehabilitation therapists can fundamentally improve upper limb dysfunction and gradually restore patients to a healthy state.

[0003] Rehabilitation training equipment can effectively help patients complete rehabilitation training, thereby improving their recovery and quality of life, helping them return to their families and lives as soon as possible. This rehabilitation training equipment has important clinical significance and social value for the large number of stroke patients.

[0004] However, the existing rehabilitation training equipment in China is not fully developed. It can only perform active and passive training on the patient's shoulder and elbow joints. It is only suitable for the rehabilitation of large upper limb joints in the early stages of upper limb rehabilitation, while ignoring the rehabilitation of fine joints such as the forearm and knuckles. The imperfect training institutions make the recovery of patients' upper limb dysfunction incomplete, which is not conducive to the patients' return to their families and lives. In addition, the existing rehabilitation equipment requires patients to be accompanied by a rehabilitation therapist or family members for training. This, on the one hand, increases the workload of the rehabilitation therapist and brings great inconvenience to the family. On the other hand, it also brings certain restrictions to the patient's rehabilitation. Utility Model Content

[0005] The purpose of this application is to provide an upper limb internal and external rotation training device and an upper limb rehabilitation training system, which can realize rehabilitation training of the patient's forearm and finger joints and improve the training effect.

[0006] The technical solutions provided in this application are as follows:

[0007] In one aspect, a device for training upper limb internal and external rotation is provided, comprising:

[0008] base;

[0009] A power output assembly is provided on the base;

[0010] a torque sensor, fixedly connected to the output end of the power output assembly;

[0011] An arm support assembly is fixedly connected to the output end of the power output assembly, and the power output assembly drives the arm support assembly to rotate;

[0012] The grip force detection handle is fixed relative to the arm support assembly.

[0013] In some embodiments, the arm support assembly includes an arm support mounting base, an arm support and a binding member, the arm support mounting base is fixedly connected to the output end of the power output assembly, the arm support is fixedly connected to the arm support mounting base, and the binding member is arranged on the arm support.

[0014] In some embodiments, a mounting hole is provided at the upper end of the arm support mounting base, the output end of the power output assembly extends into the mounting hole and is fixedly connected to the arm support mounting base, the torque sensor is arranged in the mounting hole, and the arm support is fixedly arranged at the lower end of the arm support mounting base.

[0015] In some embodiments, the grip force detection handle includes a handle and a grip force sensor, the handle is disposed on the arm rest, and the grip force sensor is disposed on the handle.

[0016] In some embodiments, a circuit board is further included, which is disposed on the base, and the power output assembly, the torque sensor, and the grip force detection handle are electrically connected to the circuit board respectively.

[0017] In some embodiments, a three-dimensional force sensor is further included. The three-dimensional force sensor is fixed relative to the torque sensor and is electrically connected to the circuit board.

[0018] In some embodiments, an anti-pinch shell is further included, which is arranged between the arm support assembly and the base. The anti-pinch shell is rotatable relative to the base and the arm support assembly, and the rotation angle of the anti-pinch shell is smaller than the rotation angle of the arm support assembly.

[0019] In some embodiments, a first arc-shaped groove is provided on a side of the anti-pinch housing close to the arm support assembly;

[0020] The output end of the power output assembly is provided with a first latch, the first latch extending into the first arc-shaped slot and being movable within the first arc-shaped slot;

[0021] When the arm support assembly rotates until the first latch abuts against the first end or the end of the first arc-shaped groove, the arm support assembly drives the anti-finger pinching housing to rotate.

[0022] In some embodiments, a second arc-shaped groove is provided on a side of the anti-pinch housing away from the arm support assembly;

[0023] A second latch is provided on the base. The second latch extends into the second arc-shaped groove and is movable in the second arc-shaped groove to limit the maximum rotation angle of the anti-pinch housing.

[0024] On the other hand, an upper limb rehabilitation training system is also provided, comprising the upper limb internal and external rotation training device described in any one of the above embodiments.

[0025] The technical effect of this application is that by setting a power output component, an arm support component and a grip detection handle, internal and external rotation training of the upper limbs can be realized, so as to achieve comprehensive, safe and effective rehabilitation training for the patient's fine joints such as the forearm and knuckles, thereby improving the training effect; in addition, through multi-dimensional feedback such as torque and force, the patient's willingness to participate independently can be effectively improved, the effectiveness of training can be enhanced, and human resources can be saved to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present application is further described in detail below with reference to the accompanying drawings and specific embodiments:

[0027] Figure 1 This is a structural diagram of an upper limb rehabilitation training system provided in an embodiment of the present application;

[0028] Figure 2 This is a structural diagram of an upper limb internal and external rotation training device provided in an embodiment of the present application;

[0029] Figure 3 is a cross-sectional view of an upper limb internal and external rotation training device provided in an embodiment of the present application;

[0030] Figure 4 This is an exploded view of an upper limb internal and external rotation training device provided in an embodiment of the present application;

[0031] Figure 5 This is a schematic structural diagram of a hand-pinch prevention housing of an upper limb internal and external rotation training device provided by an embodiment of the present application that rotates along with an arm support assembly;

[0032] Figure 6 This is a structural schematic diagram of an upper limb internal and external rotation training device provided by an embodiment of the present application, in which the arm support assembly is rotated to the maximum angle.

[0033] Description of Figure Numbers:

[0034] 100. Upper limb internal and external rotation training device; 10. Base; 20. Power output assembly; 21. Servo motor; 22. Output assembly; 30. Torque sensor; 40. Arm support assembly; 41. Arm support mounting base; 411. Mounting hole; 42. Arm support; 43. Binding piece; 50. Grip force detection handle; 51. Handle; 52. Grip force sensor; 60. Circuit board; 70. Three-dimensional force sensor; 80. Connector; 90. Anti-pinch housing; 91. Second arc groove;

[0035] 200. Upper limb rehabilitation training system; 210. Connecting rod mechanism; 220. Interactive component. DETAILED DESCRIPTION

[0036] In the following description, specific details such as specific system structures and technologies are provided for illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obstructing the description of the present application with unnecessary details.

[0037] In order to more clearly illustrate the application embodiments or technical solutions in the prior art, the specific implementation methods of the present application will be described below with reference to the accompanying drawings. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without inventive efforts.

[0038] To simplify the drawings, only the parts relevant to this application are schematically shown in each figure. They do not represent the actual structure of the product. In addition, to simplify the drawings and facilitate understanding, in some figures, only one of the components with the same structure or function is schematically depicted or labeled. In this document, "one" not only means "only one" but also "more than one."

[0039] It should be further understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0040] It should be noted that, unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they can refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this application.

[0041] In the embodiments shown in the drawings, directional indications (such as up, down, left, right, front, and back, etc.) are not absolute but relative when describing the structure and movement of each component, and are not used to limit the direction of the product in actual use.

[0042] In addition, in the description of this application, ordinal numbers, such as "first", "second", etc., are only used to distinguish and describe related objects, and cannot be understood as indicating or implying the relative importance or order between related objects.

[0043] like Figure 1 As shown, the upper limb internal and external rotation training device 100 of the present application can be installed on the upper limb rehabilitation training system 200. The upper limb internal and external rotation training device 100 can be raised, lowered, and moved along with the upper limb rehabilitation training system 200. The upper limb rehabilitation training system 200 is provided with a connecting rod mechanism 210, which drives the upper limb internal and external rotation training device 100 to move in a horizontal plane to perform rehabilitation exercises for large joints such as the shoulder and elbow joints of the upper limbs. In addition, the upper limb internal and external rotation training device 100 of the present application can also be used alone to perform internal and external rotation training of the upper limbs, while also taking into account the rehabilitation training of fine joints such as the forearm and knuckles, so as to provide comprehensive, safe, and effective rehabilitation training for the patient's upper limbs.

[0044] like Figures 2 to 4 As shown, a device for training internal and external rotation of the upper limbs includes a base 10, a power output assembly 20, a torque sensor 30, an arm support assembly 40 and a grip detection handle 50; the power output assembly 20 is arranged on the base 10; the torque sensor 30 is fixedly connected to the output end of the power output assembly 20; the arm support assembly 40 is fixedly connected to the output end of the power output assembly 20, and the power output assembly 20 drives the arm support assembly 40 to rotate; the grip detection handle 50 is fixedly arranged relative to the arm support assembly 40.

[0045] The power output assembly 20 may include a servo motor 21 and an output assembly 22. The servo motor 21 may be integrated with a reducer. The output assembly 22 includes bearings and other components. The output shaft of the servo motor 21 is connected to the base 10 via the bearing. The output shaft of the servo motor 21 is rotatable relative to the base 10 and can stably output torque. The torque sensor 30 is disposed at the output end of the power output assembly 20, that is, the torque sensor 30 can be disposed on the output shaft of the servo motor 21. The torque sensor 30 rotates with the output shaft and is used to monitor the patient's active force application during internal and external rotation activities during training in real time, and is expressed in the form of torque (Nm) as an indicator of the patient's active participation in training. The data is then displayed on the interactive component 220 of the upper limb rehabilitation training system 200.

[0046] The arm support assembly 40 is fixedly connected to the output end of the power output assembly 20, and the output shaft of the power output assembly 20 drives the arm support assembly 40 to rotate. The patient's upper limbs are placed on the arm support assembly 40. When the arm support assembly 40 rotates ±90 degrees with the output shaft of the power output assembly 20 as the axis, it drives the patient's upper limbs to perform internal and external rotation movements, so as to achieve passive rehabilitation training for the patient's forearm. During training, the servo motor 21 can adjust the patient's training status by adjusting the output force, and can monitor the angle of forearm rotation in real time through the equipped encoder to effectively ensure the safety of training. In addition, for some patients with autonomous movement ability, active training can also be carried out, that is, the patient uses his or her own muscle strength to rotate the upper limbs and perform internal and external rotation movements of the upper limbs. At this time, the servo motor 21 no longer dominates the movement, but provides auxiliary support or appropriate resistance. For example, the servo motor 21 can provide additional force to help the patient rotate the upper limbs, especially when the patient has insufficient strength; or the servo motor 21 can be used to provide adjustable resistance to help the patient strengthen muscle strength and endurance; or by detecting the patient's movement intention and strength through sensors, the servo motor 21 can dynamically adjust the auxiliary force of the servo motor 21 to adapt to the needs of the patient.

[0047] The grip strength detection handle 50 is fixed relative to the arm support assembly 40. When the patient's upper limb is placed on the arm support assembly 40, the patient's hand can grasp the grip strength detection handle 50. The grip strength detection handle 50 can monitor the patient's active grip strength during training in real time, expressed in the form of force (N), as an indicator of the patient's active participation in training. The data is displayed on the interactive component 220 of the upper limb rehabilitation training system 200. While grasping the grip strength detection handle 50, the patient can also perform rehabilitation training on the finger joints by moving the finger joints.

[0048] In this embodiment, by providing a power output assembly 20, an arm support assembly 40 and a grip strength detection handle 50, internal and external rotation training of the upper limbs can be achieved, so as to realize comprehensive, safe and effective rehabilitation training of the patient's fine joints such as the forearm and finger joints, thereby improving the training effect; in addition, through multi-dimensional feedback such as torque and force, the patient's willingness to participate independently can be effectively improved, the effectiveness of training can be enhanced, and human resources can be saved to a certain extent.

[0049] In some embodiments, as Figure 3 and Figure 4 As shown, the arm support assembly 40 includes an arm support mounting base 41, an arm support 42, and a binding member 43. The arm support mounting base 41 is fixedly connected to the output end of the power output assembly 20, the arm support 42 is fixedly connected to the arm support mounting base 41, and the binding member 43 is provided on the arm support 42. When the output end of the power output assembly 20 rotates, the arm support mounting base 41 is driven to rotate. The arm support 42 is fixedly connected to the arm support mounting base 41. When the arm support mounting base 41 rotates, the arm support 42 is driven to rotate together. The arm support 42 is used to support the patient's arm to drive the patient's arm to perform internal and external rotation movements. The binding member 43 is used to fix the patient's arm to the arm support 42 to improve training safety.

[0050] The upper end of the arm support mounting seat 41 is provided with a mounting hole 411, the output end of the power output assembly 20 extends into the mounting hole 411 and is fixedly connected to the arm support mounting seat 41, the torque sensor 30 is arranged in the mounting hole 411, and the arm support 42 is fixedly arranged at the lower end of the arm support mounting seat 41. The arm support mounting seat 41 and the arm support 42 form an L-shaped structure, and the arm support 42 is located at the bottom of the arm support mounting seat 41 for supporting the patient's arm. In order to ensure the structural stability of the entire upper limb internal and external rotation training device 100, the base 10 is also an L-shaped structure to better support the arm support assembly 40 and the patient's upper limb. The arm support mounting seat 41 is provided with a mounting hole 411, and the output end of the power output assembly 20 and the torque sensor 30 can be installed in the arm support mounting seat 41 to improve the aesthetics of the overall structure.

[0051] like Figure 3 As shown, the grip force detection handle 50 includes a handle 51 and a grip force sensor 52. The handle 51 is placed on the arm support 42, and the grip force sensor 52 is provided on the handle 51. The handle 51 is used for the patient to hold. When the patient holds the handle 51, the grip force sensor 52 detects the patient's active grip force.

[0052] like Figure 3 and Figure 4As shown, the upper limb internal and external rotation training device 100 also includes a circuit board 60 and a three-dimensional force sensor 70. The circuit board 60 is arranged on the base 10, and the three-dimensional force sensor 70 is fixedly arranged relative to the torque sensor 20. The power output component 20, the torque sensor 30, the grip sensor 52 and the three-dimensional force sensor 70 are electrically connected to the circuit board 60 respectively. The torque sensor 30, the grip sensor 52 and the three-dimensional force sensor 70 collect and feedback the patient's upper limb participation in training in real time, and adjust the training status accordingly. The output cables of the power output component 20, the torque sensor 30, the grip sensor 52 and the three-dimensional force sensor 70 are fixedly routed on the base 10, and the electrical modules such as the circuit board 60 are integrated to compress the electrical circuits and improve the stability of signal transmission. An electrical system housing is also installed on the outside of the base 10 to hide and protect the output cables, making the overall appearance of the device more refined.

[0053] The three-dimensional force sensor 70 is fixedly arranged relative to the torque sensor 30. The three-dimensional force sensor 70 can be fixedly connected to the torque sensor 30 via a connector 80, and the grip detection handle 50 is fixedly connected to the three-dimensional force sensor 70. When the upper limb internal and external rotation training device 100 is set on the upper limb rehabilitation training system 200 to train large joints such as the shoulder joint and elbow joint, the three-dimensional force sensor 70 can monitor the patient's active force application in various directions in the horizontal plane during training in real time to obtain the patient's intention to move the upper limb in a certain direction in the horizontal plane, so that the connecting rod mechanism 210 of the upper limb rehabilitation training system 200 can drive the patient's upper limb to move in the direction the patient wants to move, so as to cooperate with the patient's training and improve the training effect. The detection result of the three-dimensional force sensor 70 is expressed in the form of force (N) as an indicator of the patient's active participation in training, and the data is displayed on the interactive component 220 of the upper limb rehabilitation training system 200.

[0054] In some embodiments, as Figure 5 and Figure 6 As shown, it also includes an anti-pinch shell 90, which is arranged between the arm support assembly 40 and the base 10. The anti-pinch shell 90 is rotatable relative to the base 10 and the arm support assembly 40, and the rotation angle of the anti-pinch shell 90 is smaller than the rotation angle of the arm support assembly 40.

[0055] In combination with the above embodiments, it can be seen that Figure 2 As shown, the arm support assembly 40 includes an arm support mounting base 41 and an arm support 42. The arm support mounting base 41 and the arm support 42 form an L-shaped structure. The base 10 is also an L-shaped structure. When the arm support 42 rotates to a certain angle relative to the base 10, there is a gap between the arm support 42 and the base 10. When the patient's fingers are placed in the gap, if the arm support 42 is reset, the arm support 42 and the base 10 will form a scissors structure to pinch the patient's fingers. To avoid pinching the patient, as shown in FIG. Figure 5 and Figure 6 As shown, an anti-pinch housing 90 is provided between the arm support assembly 40 and the base 10, and the rotation angle of the anti-pinch housing 90 is smaller than the rotation angle of the arm support assembly 40. Assuming that when the arm support assembly 40 rotates 90 degrees, the anti-pinch housing 90 only rotates 45 degrees. At this time, the anti-pinch housing 90 can fill the gap between the arm support 42 and the base 10 to prevent fingers from being pinched, thereby improving training safety.

[0056] In this embodiment, the anti-pinch housing 90 can rotate with the movement, and the rotation angle of the anti-pinch housing 90 is smaller than the rotation angle of the arm support assembly 40. For example, the anti-pinch housing 90 also has an L-shaped structure, and a first arcuate groove is provided on the side of the vertical section of the anti-pinch housing 90 near the arm support assembly 40; the output end of the power output assembly 20 is provided with a first latch, and the first arcuate groove is arranged along the rotation trajectory of the first latch. The first latch extends into the first arcuate groove and is movable within the first arcuate groove; when the arm support assembly 40 rotates until the first latch abuts the first end or the end of the first arcuate groove, the arm support assembly 40 drives the anti-pinch housing 90 to rotate.

[0057] In the initial state, the first pin can be located in the middle position of the first arc-shaped groove. After the arm support assembly 40 rotates counterclockwise by a certain angle (such as 45 degrees), the first pin contacts the head end of the first arc-shaped groove. When the arm support assembly 40 continues to rotate counterclockwise, it drives the anti-pinch shell 90 to rotate, and the rotation angle of the anti-pinch shell 90 is smaller than the rotation angle of the arm support assembly 40. Assuming that the arm support assembly 40 rotates a total of 90 degrees counterclockwise, the anti-pinch shell 90 rotates 45 degrees. At this time, the horizontal section of the anti-pinch shell 90 fills the gap between the arm support 42 and the base 10 to achieve the anti-pinch effect. Similarly, after the arm support assembly 40 rotates a certain angle (such as 45 degrees) in the clockwise direction, the first pin contacts the end of the first arc-shaped groove, and the arm support assembly 40 continues to rotate clockwise, driving the anti-pinch shell 90 to rotate, and the rotation angle of the anti-pinch shell 90 is smaller than the rotation angle of the arm support assembly 40. Assuming that the arm support assembly 40 rotates a total of 90 degrees in the clockwise direction, the anti-pinch shell 90 rotates 45 degrees.

[0058] In this embodiment, in order to ensure smooth rotation of the arm support assembly 40 and the anti-pinch shell 90, the cross-sections of the arm support 42 of the arm support assembly 40 and the anti-pinch shell 90 are both arc-shaped, and the top surface of the horizontal section of the base 10 is also arc-shaped to accommodate the installation of the horizontal section of the anti-pinch shell 90.

[0059] Further, such as Figure 4As shown, a second arcuate groove 91 is provided on the side of the vertical section of the anti-pinch housing 90 away from the arm support assembly 40, that is, a second arcuate groove 91 is provided on the side of the vertical section of the anti-pinch housing 90 close to the base 10; the first arcuate groove and the second arcuate groove 91 have the same or similar shapes. A second latch is provided on the base 10, and the second arcuate groove 91 is arranged along the rotation trajectory of the second latch. The second latch extends into the second arcuate groove 91 and is movable within the second arcuate groove 91 to limit the maximum rotation angle of the anti-pinch housing 90. The maximum rotation angle of the anti-pinch housing 90 is slightly greater than the angle at which the anti-pinch housing 90 can rotate with the arm support assembly 40. That is, when the arm support assembly 40 rotates to the maximum angle, the angle at which the anti-pinch housing 90 rotates with the arm support assembly 40 is slightly less than the maximum rotation angle of the anti-pinch housing 90, so that the anti-pinch housing 90 can rotate smoothly with the arm support assembly 40. By limiting the maximum rotation angle of the anti-pinch housing 90, the anti-pinch housing 90 can be prevented from being artificially rotated away from the base 10, thereby preventing the anti-pinch housing 90 from failing to play an anti-pinch role and improving training safety.

[0060] This application also provides an embodiment of an upper limb rehabilitation training system, such as Figures 1 to 6 As shown, the upper limb internal and external rotation training device 100 described in any of the above embodiments includes a connecting rod mechanism 210 and the upper limb internal and external rotation training device 100. The upper limb internal and external rotation training device 100 is connected to the connecting rod mechanism 210. The connecting rod mechanism 210 drives the upper limb internal and external rotation training device 100 to move in a horizontal plane to train the patient's large joints such as the shoulder and elbow joints. At the same time, the upper limb internal and external rotation training device 100 can train the patient's fine joints such as the forearm and finger joints, thereby providing comprehensive, safe and effective rehabilitation training for the patient's upper limbs and improving the training effect.

[0061] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0062] It should be noted that the above embodiments can be freely combined as needed. The above description is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application, and these improvements and modifications should also be considered as the scope of protection of the present application.

Claims

1. An upper limb internal and external rotation training device, characterized in that: include: base; A power output assembly is provided on the base; a torque sensor, fixedly connected to the output end of the power output assembly; An arm support assembly is fixedly connected to the output end of the power output assembly, and the power output assembly drives the arm support assembly to rotate; The grip force detection handle is fixed relative to the arm support assembly.

2. The upper limb internal and external rotation training device according to claim 1, characterized in that: The arm support assembly includes an arm support mounting seat, an arm support and a binding piece. The arm support mounting seat is fixedly connected to the output end of the power output assembly, the arm support is fixedly connected to the arm support mounting seat, and the binding piece is arranged on the arm support.

3. The upper limb internal and external rotation training device according to claim 2, characterized in that: A mounting hole is provided at the upper end of the arm support mounting seat, the output end of the power output assembly extends into the mounting hole and is fixedly connected to the arm support mounting seat, the torque sensor is arranged in the mounting hole, and the arm support is fixedly arranged at the lower end of the arm support mounting seat.

4. The upper limb internal and external rotation training device according to claim 2, characterized in that: The grip force detection handle includes a handle and a grip force sensor. The handle is arranged on the arm support, and the grip force sensor is arranged on the handle.

5. The upper limb internal and external rotation training device according to claim 1, characterized in that: It also includes a circuit board, which is arranged on the base. The power output component, the torque sensor and the grip detection handle are electrically connected to the circuit board respectively.

6. The upper limb internal and external rotation training device according to claim 5, characterized in that: It also includes a three-dimensional force sensor, which is fixed relative to the torque sensor and electrically connected to the circuit board.

7. An upper limb internal and external rotation training device according to any one of claims 1 to 6, characterized in that: It also includes an anti-pinch shell, which is arranged between the arm support assembly and the base. The anti-pinch shell is rotatable relative to the base and the arm support assembly, and the rotation angle of the anti-pinch shell is smaller than the rotation angle of the arm support assembly.

8. The upper limb internal and external rotation training device according to claim 7, characterized in that: A first arc-shaped groove is provided on one side of the anti-pinch housing close to the arm support assembly; The output end of the power output assembly is provided with a first latch, the first latch extending into the first arc-shaped slot and being movable within the first arc-shaped slot; When the arm support assembly rotates until the first latch abuts against the first end or the end of the first arc-shaped groove, the arm support assembly drives the anti-finger pinching housing to rotate.

9. The upper limb internal and external rotation training device according to claim 8, characterized in that: A second arc-shaped groove is provided on a side of the anti-pinch housing away from the arm support assembly; A second latch is provided on the base. The second latch extends into the second arc-shaped groove and is movable in the second arc-shaped groove to limit the maximum rotation angle of the anti-pinch housing.

10. An upper limb rehabilitation training system, characterized in that: The device comprises the upper limb internal and external rotation training device according to any one of claims 1 to 9.

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